WO2021249550A1 - 手腕附接组件、控制手柄、串联运动机构及微创手术器械 - Google Patents

手腕附接组件、控制手柄、串联运动机构及微创手术器械 Download PDF

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Publication number
WO2021249550A1
WO2021249550A1 PCT/CN2021/099803 CN2021099803W WO2021249550A1 WO 2021249550 A1 WO2021249550 A1 WO 2021249550A1 CN 2021099803 W CN2021099803 W CN 2021099803W WO 2021249550 A1 WO2021249550 A1 WO 2021249550A1
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WO
WIPO (PCT)
Prior art keywords
main
slave
assembly
cable
wrist
Prior art date
Application number
PCT/CN2021/099803
Other languages
English (en)
French (fr)
Inventor
孔维阳
Original Assignee
武汉联影智融医疗科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202010537152.0A external-priority patent/CN111658025B/zh
Priority claimed from CN202010580158.6A external-priority patent/CN111803210B/zh
Priority claimed from CN202010678005.5A external-priority patent/CN111803144B/zh
Priority claimed from CN202010684267.2A external-priority patent/CN111820961A/zh
Priority claimed from CN202011336905.8A external-priority patent/CN112472296B/zh
Application filed by 武汉联影智融医疗科技有限公司 filed Critical 武汉联影智融医疗科技有限公司
Priority to US18/009,735 priority Critical patent/US20230293200A1/en
Priority to EP21821155.5A priority patent/EP4166094A1/en
Publication of WO2021249550A1 publication Critical patent/WO2021249550A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0042—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping
    • A61B2017/00442—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping connectable to wrist or forearm
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A61B2017/291—Handles the position of the handle being adjustable with respect to the shaft

Definitions

  • This application relates to the technical field of minimally invasive surgical instruments, in particular to a wrist attachment component, a control handle, a tandem movement mechanism and a minimally invasive surgical instrument.
  • minimally invasive surgery Compared with traditional open surgery, minimally invasive surgery has the advantages of small surgical incision, less bleeding, less postoperative scars, and faster recovery time, which greatly reduces the pain suffered by patients.
  • minimally invasive surgery has been widely used in various fields of surgery, such as nerve shell, brain surgery, urology, thoracic and abdominal surgery, gynecology, and urology.
  • General minimally invasive surgical instruments mostly include proximal control components, connecting rods, and distal executive components (including clamp, scissor, hook or puncture instruments), and the middle of the connecting rod is wired through to reach the proximal end
  • the controller can manipulate the effects of remote execution components.
  • Different types of remote actuators are used to complete the cutting, clamping, suture, lifting and freeing of organs and tissues.
  • the structure is more complicated, the production cost is expensive, and it is not convenient to use and promote.
  • a wrist attachment assembly a control handle, a tandem movement mechanism, and a minimally invasive surgical instrument are provided.
  • a fixing member the fixing member is ring-shaped, the inner side of the fixing member has a first surface with a circular spherical surface, and the center of the sphere of the first surface is located between the two side edges of the first surface;
  • An attachment member the attachment member is ring-shaped, the outer side of the attachment member has a second surface with an annular spherical surface, the center of the sphere of the first surface coincides with the center of the second surface, and the second surface
  • the two surfaces are at least partially in contact with the first surface, and the width of the second surface is smaller than the width of the first surface, so that the attachment member can roll freely relative to the fixing member, the attachment member
  • the roll center of is the center of the sphere of the first surface.
  • a fixing member the fixing member is ring-shaped
  • An attachment member, the attachment member and the fixing member are detachably connected;
  • a wrist kit that is connected to the inner side of the attachment member and is configured to be attached to a user's forearm or wrist.
  • Wheel structure including:
  • a dial wheel housing one end of the dial wheel housing is provided with a wire inlet hole, and the other end is rotatably connected with the base structure;
  • a cable adapter the cable adapter can move in the dial shell
  • a cable the cable enters the dial shell from the cable hole, is transferred through the cable adapter, and then connected to the base structure;
  • the cable adapter while the cable adapter is connected to the cable, it can also allow the front and rear cables connected to the cable connector to rotate relative to each other in the axial direction.
  • Wrist attachment component attached to the wrist
  • the tandem joint includes two joints, and the axis of rotation of the two joints is vertical, and the control handle is connected to the wrist attachment assembly through the tandem joint, and is used for decomposing and converting the motion state of the control handle To form the joint movement of the tandem joint.
  • connection component is arranged between the main control component and the execution component, and the connection component includes:
  • the main transmission mechanism includes a main transmission base body and a main transmission member, the main transmission base body can be fixedly connected with the main control assembly that outputs the execution action, the main transmission member is arranged on the main transmission base body, and the main transmission member It can also be connected in transmission with the main control assembly;
  • the slave transmission mechanism includes a slave transmission base body and a slave transmission member, the slave transmission base body can be fixedly connected with the execution assembly that receives the execution action, the slave transmission member is disposed on the slave transmission base body, and the slave transmission member is also Can be connected to the actuator in transmission;
  • the main transmission base body and the slave transmission base body are detachably matched, and when the main transmission base body is matched with the slave transmission base body, the main transmission part and the slave transmission part are drivingly connected.
  • FIG. 1 is a schematic structural diagram of a minimally invasive surgical instrument provided by an embodiment of the application
  • Figure 2 is a schematic structural diagram of a control handle provided by an embodiment of the application.
  • FIG. 3 is a schematic diagram of the structure of the dial structure in FIG. 2;
  • FIG. 4 is a schematic diagram of the structure of the base structure in FIG. 2;
  • FIG. 5 is a schematic diagram of the structure of the control part in FIG. 4;
  • Fig. 6 is a schematic diagram of the structure of the displacement member in Fig. 4;
  • FIG. 7 is a schematic diagram of the assembly of the driving member, the restricting member, the displacement member and the control part in FIG. 4;
  • FIG. 8 is a schematic structural diagram of a control handle provided by another embodiment of the application.
  • Fig. 9 is a schematic cross-sectional view of the base structure in Fig. 8.
  • Fig. 10 is an enlarged schematic diagram of the restricting part in Fig. 9;
  • FIG. 11 is a schematic structural diagram of a control handle provided by another embodiment of the application.
  • Fig. 12 is a schematic cross-sectional view of the base structure in Fig. 11;
  • Fig. 13 is an enlarged schematic diagram of the restricting part in Fig. 12;
  • FIG. 14 is a schematic structural diagram of a control handle provided by still another embodiment of the application.
  • FIG. 15 is a schematic cross-sectional view of the base structure in FIG. 14;
  • Fig. 16 is an enlarged schematic diagram of the restricting part in Fig. 15;
  • FIG. 17 is a schematic structural diagram of a wrist attachment assembly provided by an embodiment of the application.
  • Figure 18 is an exploded schematic diagram of Figure 17;
  • Figure 19 is a schematic longitudinal cross-sectional view of Figure 17;
  • 20 is a schematic structural diagram of a blocking member in another embodiment of the application.
  • 21 is a schematic diagram of the position of the attachment member before installation in an embodiment of the application.
  • Figure 22 is a schematic diagram of the position of the attachment member in Figure 21 after installation
  • FIG. 23 is a schematic structural diagram of a wrist attachment assembly provided by an embodiment of the application.
  • Figure 24 is a schematic structural view of the attachment member and wrist kit in Figure 23;
  • FIG. 25 is a schematic diagram of the structure of the universal ball in FIG. 23;
  • 26 is a schematic structural diagram of an attachment member and a wrist kit provided by another embodiment of the application.
  • FIG. 27 is a schematic structural diagram of an attachment member and a wrist kit provided by another embodiment of this application.
  • Figure 28 is a schematic view of the structure of the attachment member and the wrist kit in Figure 27;
  • FIG. 29 is a schematic structural diagram of a wrist attachment assembly provided by another embodiment of the application.
  • FIG. 30 is a schematic diagram of the structure of the attachment member in FIG. 29;
  • FIG. 31 is a schematic structural diagram of a wrist attachment assembly provided by another embodiment of this application.
  • FIG. 32 is a schematic diagram of the structure of the attachment member in FIG. 31;
  • FIG. 33 is a schematic structural diagram of a tandem movement mechanism provided by an embodiment of the application.
  • Figure 34 is a schematic diagram of the exploded structure of the tandem joint in Figure 33;.
  • FIG. 35 is a schematic diagram of the positional relationship between the deflection component and the pitch component and the actuating component connected by a cable in an embodiment of the application;
  • Figure 36 is a schematic structural diagram of the traction frame in Figure 34;
  • Figure 37 is a schematic diagram of the principle of the control handle rotating in a direction perpendicular to the horizontal plane;
  • Fig. 38 is a schematic structural diagram of the deflection assembly in Fig. 34;
  • Figure 39 is a schematic diagram of the positional relationship and force principle of the connecting cables on the deflection assembly
  • Fig. 40 is a schematic diagram of an exploded structure of the pitch assembly in Fig. 34;
  • Figure 41 is a partial enlarged view at B in Figure 40;
  • Figure 42 is a schematic diagram of the positional relationship of the connecting traction belt on the pitch assembly
  • Figure 43 is a schematic diagram of the positional relationship between the pitch assembly and the traction frame
  • Figure 44 is a schematic diagram of the positional relationship of the deflection assembly formed by a rotation connection with the control handle through the pitch assembly;
  • Fig. 45 is a schematic structural diagram of the wrist attachment assembly in Fig. 33;
  • FIG. 46 is a schematic structural diagram of a tandem movement mechanism and a frame provided by another embodiment of the application.
  • Fig. 47 is a schematic diagram of the structure of the frame in Fig. 46;
  • Fig. 48 is a schematic diagram of the exploded structure of the frame in Fig. 47;
  • Fig. 49 is a partial enlarged schematic diagram of A in Fig. 48;
  • Figure 50 is a schematic structural diagram of the actuator and connecting rod in Figure 1;
  • Figure 51 is a schematic diagram of the assembly structure of the main control assembly and the main transmission mechanism in Figure 1;
  • FIG. 52 is a schematic diagram of an enlarged structure of a main transmission mechanism provided by an embodiment of the application.
  • FIG. 53 is a schematic diagram of an enlarged structure of a slave transmission mechanism provided by an embodiment of the application.
  • FIG. 55 is a schematic diagram of a planar structure of a minimally invasive surgical instrument provided by an embodiment of the application.
  • Figure 56 is a schematic diagram of a main transmission mechanism provided by another embodiment of the application.
  • FIG. 57 is a schematic diagram of a slave transmission mechanism provided by another embodiment of the application.
  • FIG. 58 is a schematic diagram of a first three-dimensional structure of a connection assembly provided by another embodiment of the application.
  • FIG. 59 is a schematic diagram of an assembly structure of a connecting component provided by another embodiment of the application.
  • FIG. 60 is a schematic diagram of a second three-dimensional structure of a connection assembly provided by another embodiment of the application.
  • Minimally invasive surgical instruments are the main tools to complete minimally invasive surgery, which generally include a proximal main control component and a distal executive component.
  • the main control component at the proximal end can allow the doctor to operate, and the main control component at the proximal end and the remote executive component are connected in transmission, and the remote executive component can perform corresponding actions according to the doctor’s operating actions, such as cutting and clamping. Hold, suture, lift or free, etc.
  • the present application provides a connecting component, which can not only realize the fixed connection between the main control component at the proximal end and the executive component at the far end, so that the two become a whole, and at the same time, the connection component can realize the main control component at the proximal end and the remote executive component.
  • connection assembly provided in the present application can not only be applied to minimally invasive surgical instruments, but also can be applied to any other structure in which rigid parts are docked and which contains flexible parts for transmission and connection.
  • the following only takes the application of the connecting assembly in a minimally invasive surgical instrument as an example for description. It is understandable that the connecting assembly described in the following embodiments can be applied to other application scenarios as long as it is adapted to be deformed.
  • an embodiment of the present application provides a minimally invasive surgical instrument, which includes a main control assembly 10, an execution assembly 20 and a connection assembly 40, and the connection assembly 40 is disposed between the main control assembly 10 and the execution assembly 20.
  • the main control assembly 10 includes a control handle 110, a wrist attachment assembly 120 and a frame 130, and the wrist attachment assembly 120 is respectively connected to one end of the frame 130 and the control handle 110.
  • the control handle 110 includes a dial structure 111 and a base structure 112.
  • the dial structure 111 is connected to the base structure 112, and the base structure 112 can rotate without restriction relative to the dial structure 111.
  • the base structure 112 is a gripping part, and the base structure 112 is bent into an arc shape to fit the posture of a human body gripping.
  • the dial structure 111 includes a dial shell 1111, a cable adapter and a cable.
  • One end of the dial shell 1111 is provided with a cable inlet, and the other end is rotatably connected with the base structure.
  • the cable adapter can move in the wheel housing 1111, the cable enters the wheel housing 1111 from the wire inlet, and is transferred through the cable adapter, and then connected to the base structure 112, the cable is transferred While connecting the cable, the member can also make the front and rear cables connected to the cable connector rotate relative to each other in the axial direction.
  • the cable adapter includes a sliding part 1112 and a rotating part 1113.
  • a accommodating cavity is formed in the dial housing 1111 along its length.
  • the sliding part 1112 is slidably arranged in the accommodating cavity.
  • the rotating part 1113 and the sliding part 1112 Rotating connection, the cable includes a first cable and a second cable, the first cable passes through the cable hole and is connected to the sliding member 1112, one end of the second cable is connected to the rotating member 1113, and the other end is connected to the base structure 112 .
  • the second cable drives the rotating member 1113 to rotate relative to the sliding member 1112, and the first cable connected to the actuator 20 outside the control handle 110 will not follow the base structure 112 to rotate, preventing the cable from appearing inside.
  • the effect of unrestricted rotation of the base structure 112 relative to the dial structure 111 is realized.
  • the sliding member 1112 can be translated in the accommodating cavity to change the length of the part of the first cable outside the control handle 110 to achieve the effect of the first cable regulating the actuator 20 outside the control handle 110.
  • the sliding member 1112 it only needs to be able to translate in the accommodating cavity. Therefore, it is not limited to a certain shape and structure.
  • the sliding member 1112 is a disc or a bar. Matter. The volume of the disc or the strip is smaller than the volume of the accommodating cavity, and the disc or the strip can move in the accommodating cavity.
  • the sliding member 1112 has a rod shape, one end of which is connected with the first cable, and the other end is movably connected with the rotating member 1113.
  • the rotating member 1113 is in the shape of a rod. One end of the rotating member 1113 is movably connected with the sliding member 1112, and the other end is connected with the second cable.
  • the sliding part 1112 includes a cylindrical sliding part, a front fixing part installed at one end of the sliding part opposite to the wire inlet hole, and a rear fixing part installed at the other end of the sliding part.
  • the outer wall of the sliding part and the container The inner wall of the cavity is in sliding contact, and the rotating part 1113 is built in the sliding part 1112 and is rotatably connected with the rear fixing part.
  • the rear fixing part is ring-shaped, and the second cable passes through the rear fixing part and is connected to the rotating part 1113.
  • the sliding member 1112 is cylindrical, and the length of the sliding member 1112 is less than the length of the accommodating cavity.
  • the shape of the outer wall of the sliding member 1112 matches the inner wall of the accommodating cavity, so that the sliding member 1112 It can only be translated in the accommodating cavity to avoid shaking of the sliding member 1112 and collision with the inner wall of the accommodating cavity during use, thereby reducing the service life.
  • the equipment of this application is a precision equipment, which has high requirements for accuracy, and the cylindrical sliding can improve the stability of sliding. It cooperates with the built-in rotating part 1113, on the one hand, it can ensure that the sliding part 1112 has a certain length.
  • the stability of sliding can be ensured, and at the same time, the space occupied by the rotating part 1113 can be avoided, which is beneficial to reduce the space occupation rate of the entire equipment.
  • the sliding between the sliding member 1112 and the inner wall of the accommodating cavity can also be realized in other ways.
  • the front fixing part of the sliding part 1112 is provided with an arc-shaped through hole, and one end of the first cable extends into the arc-shaped through hole and is fixed to the sliding part 1112, so as to facilitate the fixing of the first cable on the sliding part 1112.
  • the rotating part 1113 is a bearing and has a first rotating part and a second rotating part.
  • the first rotating part is rotatably connected with the second rotating part, and the first rotating part is fixedly mounted on the sliding part.
  • One end away from the cable inlet, the second rotating part is fixed to one end of the first cable.
  • the dial structure 111 further includes a tether pin 1115.
  • the tether pin 1115 and the rotating member 1113 are partially fixed movably relative to the base structure 112, and one end of the second cable is tied to the tether pin 1115. In this way, the effect of the second cable being rotatable relative to the base structure 112 is achieved, and this also facilitates the fixing of the second cable on the rotating member 1113.
  • the dial structure 111 further includes a thrust bearing 1114, the thrust bearing 1114 is embedded on the inner wall of the dial shell 1111, the base structure 112 is connected with the thrust bearing 1114, the base structure 112 and the dial shell 1111 is rotatably connected by thrust bearing 1114. In this way, the smooth rotation between the base structure 112 and the dial housing 1111 can be facilitated.
  • the dial structure 111 further includes a wire inlet 1116.
  • the inner wall of the dial shell 1111 is raised to form a bobbin 1111a, and the wire inlet 1116 is embedded in the inner wall of the dial shell 1111.
  • one end of the wire inlet connector 1116 is located outside the dial wheel housing 1111, and the other end of the wire inlet connector 1116 is located inside the dial wheel housing 1111. In this way, it is convenient for the cable to enter the dial structure 111.
  • the first cable enters the dial wheel housing 1111 through the cable inlet 1116, passes through the bobbin 1111a, and is fixed on the base structure 112.
  • the base structure 112 it only needs to be movably connected to the dial shell 1111. Therefore, for the technical problem of "unrestricted rolling", there is no need to specifically limit the structure of the base structure 112. It is understood that the base structure 112 is a commonly used structure in the art.
  • the base structure 112 is used as a gripping part, and the base structure 112 is bent into an arc to fit the gripping hand shape, which is more ergonomic.
  • the base structure 112 includes a handle housing 1121, a driving member 1122, a displacement member 1124 and a restricting member 1125.
  • the handle housing 1121 is rotatably connected with the dial housing 1111
  • the displacement member 1124 is built in the handle housing 1121 and is rotatably connected with the inner wall of the handle housing 1121
  • the end of the second cable away from the dial structure 111 is connected with the displacement member 1124
  • One end of the driving member 1122 is connected to the displacement member 1124, and the other end passes through the handle housing 1121 and is used to drive the displacement member 1124 to rotate relative to the handle housing 1121 to set the rotation angle
  • the restriction member 1125 abuts the displacement member 1124 and can controllably restrict
  • the displacement member 1124 rotates in one direction.
  • the end of the second cable entering the base structure 112 is wound on the displacement member 1124, the driving member 1122 drives the displacement member 1124 to rotate, shortening the second cable, and pulling the sliding member 1112 to translate in the accommodating cavity, so that the cable is located in the free space.
  • the limiting member 1125 limits the unidirectional rotation of the displacement member 1124, so that the displacement member 1124 maintains the current rotation state, thereby realizing the automatic locking of the displacement member 1124 , It is no longer necessary to control the rotation state of the rotating member at all times (for example, stop operating the driving member), which greatly improves the experience during use.
  • the handle housing 1121 is connected with the thrust bearing 1114 to realize the rotational connection between the handle housing 1121 and the dial housing 1111,
  • the driving member 1122 includes a connecting rod and a runner. One end of the connecting rod is coaxially connected with the displacement part 1124, and the other end is coaxially connected with the runner. When the runner is rotated, the displacement part 1124 also rotates, so that The second cable is shortened.
  • the driving member 1122 includes a handle 221 and an arc-shaped connecting rod 222.
  • One end of the handle 221 is hinged with the handle housing 1121, and the other end is formed with a driving side and a connecting side.
  • the driving side at least partially penetrates the handle housing 1121
  • the connecting side at least partially extends into the handle housing 1121 and is connected to the arc-shaped connecting rod.
  • One end of 222 is hinged, and the other end of the arc-shaped connecting rod 222 is hinged with the displacement member 1124. In this way, it is convenient for the user to perform one-handed operation.
  • the displacement member 1124 is provided with an assembly groove 242, the bottom surface of the assembly groove 242 is provided with an arc-shaped through hole 245, the bottom surface of the assembly groove 242 protrudes to form a rotating shaft 246, and the handle 221 is provided with a container on the side close to the displacement member 1124.
  • the displacement member 1124 partially extends into the accommodating groove 2211, the arc-shaped connecting rod 222 is arranged in the assembling groove 242, one end of the arc-shaped connecting rod 222 is sleeved on the rotating shaft 246, and the arc-shaped through hole 245 is rotated
  • the shaft 246 is the center of the circle.
  • a connecting rod 1124e is provided between the side walls of the accommodating groove 2211, and the connecting rod 1124e passes through the arc-shaped through hole 245 and the other end of the arc-shaped connecting rod 222. In this way, the matching space between the displacement member 1124 and the handle 221 can be reduced, and the internal space of the base structure 112 can be saved, so that the base structure 112 is not too bulky and is convenient to hold.
  • the handle 221 rotates relative to the handle housing 1121, the connecting rod 1124e moves along the arc-shaped through hole 245, and the arc-shaped connecting rod 222 pushes the displacement member 1124 to rotate.
  • the ratchet part extends into the accommodating groove 2211, the matching space between the displacement member 1124 and the handle 221 is reduced, which effectively saves the internal space of the base structure 112.
  • the surface of the displacement member 1124 extends in the axial direction to form a boss 241.
  • a winding track is provided along the circumference of the boss 241, and the second cable entering the base structure 112 is wound around. Set on the winding track.
  • the displacement member 1124 is in the shape of a disc, and its outer peripheral surface is provided with a control track along its circumferential direction.
  • the restriction member 1125 abuts on the control track and can controllably restrict the displacement member 1124 from rotating in one direction.
  • control track is a bump track 243
  • the bump track includes an arc-shaped slideway arranged circumferentially along the outer peripheral surface of the rotating part and a plurality of protrusions evenly arranged along the arc-shaped slideway. Or multiple grooves.
  • the restricting member 1125 includes a restricting portion, an elastic portion, and a control portion 1125a.
  • One end of the restricting portion is hinged to the inner wall of the handle housing 1121, and one end of the elastic portion is connected with the restricting portion and generates elastic force to drive The restricting portion rotates forward until its other end abuts between two adjacent protrusions or grooves on the cam track.
  • One end of the control portion 1125a is connected with the restricting portion, and the other end protrudes from the handle housing 1121 and is used to drive the restricting portion Reverse rotation until the other end is separated from the rotating part.
  • the elastic part is a torsion spring.
  • control portion 1125a it only needs to make the restricting portion and the displacement member 1124 out of contact.
  • the control portion 1125a is a rope, and one end of the rope is connected to the end where the restriction portion contacts the displacement member 1124.
  • the rope is pulled to make the restriction portion contact the displacement member 1124.
  • One end moves to disengage from the displacement member 1124, thereby releasing the restriction on the displacement member 1124.
  • the control part 1125a includes a wheel 231 and a transmission part 232.
  • the wheel 231 is rotatably arranged on the handle housing 1121 and connected to one end of the transmission part 232, and the other end of the transmission part 232 is connected to the restricting part.
  • the transmission member 232 is used to convert the amount of rotation of the wheel 231 into a force for pushing the restricting portion to swing relative to the handle housing 1121.
  • the restricting portion is switched between abutting and non-abutting with the displacement member 1124.
  • the transmission member 232 includes a rotating rod 2321 and a shift lever 2322.
  • One end of the rotating lever 2321 is fixed to the wheel 231, and the other end surface of the rotating lever 2321 is partially raised to form a cam 2323,
  • the middle part of the lever 2322 is hinged with the handle housing 1121.
  • One end of the lever 2322 abuts against the cam 2323, and the other end abuts against the restricting part.
  • the cam 2323 When the wheel 231 rotates, the cam 2323 is driven to rotate, and the lever 2322 is swung to dial
  • the effect of the movable restricting portion is that the restricting portion can be out of contact with the displacement element 1124 at any position where the displacement element 1124 is locked, and the displacement element 1124 can be released.
  • the control track includes a bump track 243 and a smooth track 244 arranged side by side
  • the bump track 243 includes an arc-shaped slideway arranged circumferentially along the outer peripheral surface of the rotating part and an arc-shaped slide track.
  • the smooth track 244 is a curved track with a stroke start end protruding from the bump track 243 and a smooth transition between the stroke end and the bump track 243, and the smooth track 244 is formed
  • the width of the bump track 243 gradually increases from the beginning of the stroke to the end of the stroke, and the width of the bump track 243 gradually decreases from the beginning of the stroke to the end of the stroke.
  • the restricting member 1125 includes a restricting portion and an elastic piece.
  • One end of the restricting portion is hinged to the inner wall of the handle housing 1121, and the acting end of the elastic piece is connected with the restricting portion to generate the driving restricting portion to translate from the convex track 243 to the smooth track 244.
  • the elastic force and the elastic force that drives the restricting part to rotate to the other end of the control track.
  • the elastic part is a torsion spring.
  • the restricting portion When the restricting portion reaches the end of the convex track 243, it is pushed by the torsion spring, so that the restricting portion translates along the axis of the pin shaft 211, enters the smooth track 244, and releases the locked portion of the displacement member 1124. At the same time, the smooth track 244 will become narrower and narrower from the beginning to the end. When the restriction reaches the end of the smooth track 244, the smooth track 244 narrows at the end, squeezing the restriction into the bump track 243, the effect achieved by this structure It is helpful for the restriction member to switch the track, so that the restriction portion and the displacement member 1124 are automatically released after the locked state reaches the limit.
  • the driving member 1122 since the driving member 1122 only drives the displacement member 1124 to rotate by a certain angle, the convex track 243 and the smooth track 244 do not need to be arranged on the circumferential surface of the ratchet wheel, and the arc corresponding to the convex track 243 and the smooth track 244 is connected to the arc.
  • the arcs corresponding to the holes 245 may be equal.
  • the displacement member 1124 is in a strip shape, one end of which is movably connected to the inner wall of the handle housing 1121, and the other end is provided with a number of wave teeth for clamping. 245.
  • the driving member 1122 is disposed on the displacement member 1124 and at least partially penetrates the handle housing 1121.
  • the restricting member 1125 includes a steel sheet 251 with certain elasticity, a fixing portion 252 and a displacement spring 253. The end of the steel sheet 251 away from the displacement member 1124 is fixed to the fixing portion 252, and its side surface facing the displacement member 1124 forms a protrusion.
  • the protrusion is similar to the shape of the wave tooth 245, and the protrusion and the wave tooth 245 are not stressed.
  • One end of the displacement spring 253 is fixed to one end of the fixing part 252, and the other end is fixed to the inner wall of the handle housing 1121.
  • the displacement spring 253 expands and contracts in a direction perpendicular to the inner wall of the handle housing 1121, and the other end of the fixing part 252
  • One end movably penetrates through the handle housing 1121, and its end located outside the handle housing 1121 forms a button.
  • the displacement member 1124 extends on an end close to the restriction member 1125 to form an anti-reverse abutment 246, and the anti-reverse abutment 246 abuts on the side of the steel sheet 251 away from the displacement member 1124.
  • the end of the driving member 1122 and the displacement member 1124 pushes the displacement member 1124 to rotate.
  • the protrusion and the wave tooth 245 are not in contact, and the displacement member 1124 can be free.
  • the button When it is necessary to lock, press the button to compress the displacement spring 253, the steel sheet 251 is in contact with the displacement member 1124, the protrusion and the wave teeth 245 form a snap connection, and the friction between the protrusion and the wave teeth 245 makes the displacement spring 253
  • the purpose of locking is achieved by keeping the compressed state. If the wave teeth 245 are arranged densely enough, the effect of stepless locking of the second cable can be achieved.
  • the button is then toggled to destroy the protrusion With the frictional force between the wave teeth 245, the steel sheet 251 and the displacement member 1124 are out of contact, and the displacement member 1124 is released.
  • the displacement member 1124 includes an inner ring 241a, an outer ring 242a, a contact spring 243a, and a steel column 244a.
  • the inner ring 241a is fixed to the inner wall of the handle housing 1121
  • the outer ring 242a is movably sleeved on the outer peripheral surface of the inner ring 241a
  • the edge of the inner ring 241a is provided with a notch 245a
  • the steel column 244a penetrates the notch 245a to abut the spring 243a
  • the peripheral surface of the outer ring 242a is in contact with the inner ring surface of the outer ring 242a
  • one end of the abutting spring 243a is fixed to the inner wall of the notch 245a
  • the other end is fixed radially to the steel column 244a.
  • the outer peripheral surface of the outer ring 242a is provided with a winding second cable
  • the outer ring 242a extends in the radial
  • the driving member 1122 includes a fixing block 221a, a connecting rod 222a, and a butting joint 223a.
  • the fixing block 221a is fixed to the inner wall of the handle housing 1121, the connecting rod 222a passes through the fixing block 221a, and one end of the connecting rod 222a is located outside the handle housing 1121, and the end of the connecting rod 222a located in the handle housing 1121 is connected to the abutment joint 223a is fixed, the abutment joint 223a abuts against the abutment platform, and the end of the connecting rod 222a located outside the handle housing 1121 extends to form a button.
  • the restricting member 1125 includes a runner 251a, a runner link 252a, a wedge block 253a, and a lifting fork 254a.
  • the runner link 252a penetrates through the handle housing 1121, the end of the runner link 252a located outside the handle housing 1121 is fixed to the runner 251a, and the end of the runner link 252a located inside the handle housing 1121 is the same as the wedge block 253a.
  • the shaft is fixed, one end of the lift fork 254a is fixed to the inner wall of the handle housing 1121 and abuts against the outer peripheral surface of the steel column 244a, and the other end of the lift fork 254a abuts against the outer surface of the wedge block 253a.
  • the rotation of the runner 251a drives the wedge block 253a to rotate, and the steel column 244a is driven to rise and fall in the vertical direction through the lifting fork 254a.
  • the button is pressed, the abutment joint 223a abuts against the abutment table, and the outer ring 242a is pushed to rotate. Under the action of friction, the steel column 244a is tightly pressed against the notch 245a. Since the inner ring 241a is fixed relative to the handle housing 1121, the outer ring 242a cannot rotate further. The effect achieved is to tighten a part of the second cable. When the second cable needs to be further tightened, the runner 251a is rotated, and the rotation of the runner 251a drives the wedge block 253a to rotate.
  • the lift fork 254a drives the steel column 244a to move toward the contact spring 243a, and the steel column 244a disengages from the inner wall of the notch 245a. Tight state. At this time, if you continue to press the button, the outer ring 242a can be further rotated to further tighten the second cable. When the second cable needs to be released, release the button and rotate the rotating wheel 251a in the opposite direction.
  • the driving member 1122 includes a hinge plate 221b, a driving rod 222b, and a fixing bar 223b.
  • the hinge plate 221b is hinged to the inner wall of the handle housing 1121, the drive rod 222b passes through the hinge plate 221b, and one end of the drive rod 222b is located outside the handle housing 1121, and the end of the drive rod 222b located in the handle housing 1121 and the fixing bar 223b is fixed, and the end of the driving rod 222b located outside the handle housing 1121 extends to form a button.
  • the displacement member 1124 includes a displacement steel sheet 241b and a lever 242b.
  • One end of the displacement steel sheet 241b is fixed to the fixing bar 223b, and the other end is fixed to the restricting member 1125.
  • One end of the lever 242b is hinged to the displacement steel sheet 241b, and the other end is fixed to the second cable.
  • the middle part of the lever 242b is connected to the handle housing 1121.
  • the inner wall is hinged.
  • the limiting member 1125 includes a limiting block 251b and a sliding head 252b.
  • the sliding head 252b is fixed to the end of the displacement steel sheet 241b away from the fixing bar 223b.
  • the anti-limiting block 251b is provided with a rebound groove 253b.
  • the side wall of the sliding head 252b extends a sliding rod.
  • the sliding rod is embedded in the rebound groove 253b and Sliding along the rebound groove 253b.
  • the rebound groove 253b includes a first sliding section 254b, a second sliding section 255b, a first connecting section 256b, and a second connecting section.
  • the first sliding section 254b, the first connecting section 256b, the second sliding section 255b and the second connecting section are connected end to end.
  • the first sliding section 254b and the first connecting section 256b are connected to form a first narrow opening 257b for accommodating the sliding rod.
  • the connection between the second sliding section 255b and the second connecting section forms a second narrow opening for accommodating the sliding rod.
  • the axis of the first connecting section 256b is parallel to the axis of the slider 252b when the sliding rod is at the first narrow opening 257b, and the axis of the second connecting section is parallel to the axis of the slider 252b when the sliding rod is at the second narrow opening.
  • the sliding rod slides along the first sliding section 253b and falls into the first narrow opening 256b. Since the sliding rod is received in the first narrow opening 256b, it is released at this time Button, the sliding rod stays in the first narrow opening 256b. Press the button again, since the axis of the first connecting section 255b is parallel to the axis of the slider 252b at this time, when the button is pressed, the sliding rod enters the first connecting section 255b in the direction of force, and moves along the first connecting section 255b and the first connecting section 255b. The second sliding section 254b slides into the second narrow opening. At this time, release the button and the sliding rod stays in the second narrow mouth.
  • the dial structure 111 and the base structure 112 can roll unrestrictedly between each other, so that 360-degree uninterrupted rolling can be realized, and it is no longer necessary to stop and adjust the handle during the rotation.
  • the wrist attachment assembly 120 includes a fixing member 121 and an attachment member 122.
  • the fixing member 121 has a ring shape. It can be understood that the ring shape may be a closed ring or a non-closed ring, such as a C-shaped ring or a U-shaped ring. In this embodiment, it is preferably a closed ring.
  • the inner side of the fixing member 121 has a first surface 1a in the shape of an annular spherical surface, and the center of the sphere of the first surface 1a is located between the two side edges of the first surface 1a.
  • the attachment member 122 has a ring shape, which is similar to the structure of the above-mentioned fixing member 121.
  • the ring shape may be a closed ring or a non-closed ring, such as a C-shaped ring or a U-shaped ring. In this embodiment, it is preferably a closed ring.
  • the outer side of the attachment member 122 has a second surface 2a that is an annular spherical surface.
  • the center of the first surface 1a coincides with the center of the second surface 2a, and the second surface 2a is at least partially in contact with the first spherical surface 1a, and the second surface 2a
  • the width of is smaller than the width of the first surface 1a, so that the attachment member 122 can roll freely relative to the fixed member 121, and the center of the rotation of the attachment member 122 is the center of the sphere of the first surface 1a.
  • at least one side edge of the first surface 1a is connected with a stopper 1212, and at least part of the stopper 1212 faces the annular inner space of the fixing member 121 extend.
  • the blocking member 1212 may be a separate part connected to the edges of the openings at both ends of the fixing member 121, or may be a part of the fixing member 121.
  • the blocking member 1212 may be a plurality of blocking pieces connected to the side edge of the first surface 1a. In other embodiments, as shown in FIG. 20, the blocking member 1212 may be connected to the first surface 1a. For the several screws on the side edge of the surface 1a, the end of the wider end of the screw is used as the stopper 1212.
  • both side edges of the first surface 1a are correspondingly connected with blocking members 1212, and the blocking members 1212 are blocking members 1212 connected to the side edges of the first surface 1a.
  • the function of the stopper 1212 is to limit the deflection angle of the attachment member 122.
  • the center of the sphere of the first surface 1a is located between the two side edges of the first surface 1a, since the cross section of the ball passes through The cross-sectional area of the center of the sphere is the largest. Therefore, when the largest area is located in the inner space of the fixing member 121, it is only necessary that at least one side edge of the first surface 1a is connected with the stopper 1212 to effectively limit the deflection angle of the attachment member 122.
  • the two side edges of the first surface 1a are respectively connected with blocking members 1212.
  • the blocking member 1212 and the fixing member 121 may be an installation connection structure, or an integrally formed structure. In this embodiment, it is an installation connection structure.
  • the width of the second surface 2a is smaller than the width of the first surface 1a, which can ensure that the attachment member 122 can be pitched and deflected at a certain angle in the fixing member 121.
  • the attachment member 122 can roll freely relative to the fixing member 121, which means that the attachment member 122 can pass through the attachment vertically in any state without leaving the inner space of the fixing member 121.
  • the axis of the member 122 realizes an infinite angle of rotation.
  • the second surface 2a is the outer surface of the attachment member 122, that is, the outer surface of the attachment member 122 is an annular spherical surface as a whole.
  • the width difference between the attachment member 122 and the fixing member 121 should be large enough, generally not less than 20mm, and in order to ensure the use For user comfort, there must be a certain width where the attachment member 122 contacts the wrist, generally not less than 20mm, which will cause the fixing member 121 to be too wide, and the wrist attachment assembly 120 as a whole will appear too heavy and unfavorable for use.
  • the attachment member 122 includes a ring body 1221 and an annular flange 1222.
  • the annular flange 1222 is connected to the outer surface of the ring body 1221, the outer end surface of the annular flange 1222 abuts the first surface 1a, and the outer end surface of the annular flange 1222 forms a second surface 2a that matches the first surface 1a.
  • the annular flange 1222 is fixed and coaxially connected to the middle part of the ring body 1221.
  • the sliding fit of the first surface 1a and the second surface 2a of the pitch and deflection of the attachment member 122 is transferred to the middle part of the first surface 1a and the second surface 2a, so that the attachment member 122 and the fixing member 121 are not required
  • the larger width difference facilitates the reduction of the overall volume of the wrist attachment assembly 120 and makes the wrist attachment assembly 120 more portable.
  • the attachment member 122 of the above-mentioned structure has a cross-section similar to a T-shape, that is, by reducing the contact area of the attachment member 122 and the fixing member 121, the rotation angle of the attachment member 122 is increased, and at the same time, the friction force can be reduced.
  • the T-shaped cross section also ensures that the attachment member 122 has a certain width in contact with the wrist. Increased comfort.
  • the width of the annular flange 1222 is generally about 5mm. Therefore, when the pitch and yaw angles are satisfied, the width of the first surface 1a in the fixing member 121 can generally be maintained within 30mm, so that the wrist can be attached to the component.
  • the whole 120 is not too big and bulky.
  • the fixing member 121 and the attachment member 122 when any one of the fixing member 121 and the attachment member 122 is made of a material with certain elastic deformation properties, such as a plastic part, the installation of the two can be done by either component The elastic deformation realizes the socket connection.
  • two arc-shaped grooves 1b may be symmetrically formed on one side edge of the first surface 1a, one of the two arc-shaped grooves 1b
  • the width dimension between the space is greater than the diameter dimension of the annular flange 1222; during installation, as shown in Figures 21-22, the annular flange 1222 of the attachment member 122 is aligned with the arc-shaped groove 1b and placed, and the arc-shaped groove 1b will be attached
  • the member 122 is inserted into the inner side of the fixing member 121.
  • the inner attachment member 122 is turned over 90 degrees to complete the assembly.
  • the attachment member 122 and the fixing member 121 can achieve a certain angle of pitch, deflection, and infinite angle roll between the wrist and the fixing member 121, but according to ergonomics, it can be known that the human body
  • the pitch angle of the wrist is small, but the deflection angle is very large.
  • the deflection angle of the wrist in the above solution is the same as the deflection angle of the attached component, and is limited by the width of the first surface 1a and the second surface 2a.
  • the deflection angle is generally small and not quite It conforms to the ergonomics concept and is not enough to meet all the needs of the human wrist deflection. Therefore, in this embodiment, as shown in FIG.
  • the wrist attachment assembly 120 further includes a wrist kit 123, wherein the wrist kit 123 is configured to be attached to the user's wrist, which is rotatably mounted on the attachment On the inner side of the attachment member 122, the rotation axis of the wrist sleeve 123 passes through the rolling center of the attachment member 122.
  • the wrist assembly 123 is rotatably installed on the inner side of the attachment member 122, that is, the wrist assembly 123 is connected to the attachment member 122 through a rotating pair, which can effectively increase the angle of the user's wrist deflection left and right. This design increases the effective redundancy and is more ergonomic.
  • the wrist kit 123 is a C-shaped member 123. More specifically, in this embodiment, the installation of the C-shaped member 123 adopts the following solution: two protrusions 123a are formed on both ends of the outer side of the C-shaped member 123 , The two protrusions 123a form the rotation axis of the wrist kit 123, and the side walls of the attachment member 122 are respectively formed with two mounting holes 2b corresponding to the two protrusions 123a.
  • the C-shaped member 123 passes through the protrusions 123a and the mounting holes 2b.
  • the clip is detachably connected to the inner side of the attachment member 122 for rotation.
  • the wrist attachment assembly 120 When the user uses the wrist attachment assembly 120, the wrist is extended into the space inside the C-shaped member 123, and the upper and lower sides of the wrist are clamped to the two ends of the C-shaped member 123, so that the wrist is pitching, When deflected or turned over, the attachment member 122 and the wrist kit 123 can be accurately adapted to the wrist, so as to facilitate the user's work.
  • a wrist attachment assembly 120 includes a fixing member 121, an attachment member 122 and a wrist kit 123.
  • the fixing member 121 is ring-shaped. It can be understood that the ring-shaped ring can be a closed ring or a non-closed ring, such as a C-ring or a U-shaped ring. The non-closed ring can also be a partially staggered and overlapping ring, such as a spiral ring.
  • the attachment member 122 and the fixing member 121 are detachably connected.
  • the attachment member 122 is an integrally formed closed ring shape, and the attachment member 122 is detachably connected to the fixing member 121 through a magnetic connection.
  • the attachment member 122 is made of a magnetic material, such as an iron material, and an electromagnet is installed on the fixing member 121. When the electromagnet is energized, the electromagnet generates magnetism and magnetically attracts the ferrule to make the attachment
  • the member 122 is connected to the inner side of the fixing member 121. When the electromagnet is de-energized, the magnetism disappears, and the attachment member 122 can be removed from the inner side of the fixing member 121.
  • the fixing member may be made of a magnetic material, and an electromagnet is installed on the ferrule.
  • the attachment member 122 is pasted on the inner side of the fixing member 121 by Velcro, and the attachment member 122 and the fixing member 121 are connected and matched by sticking or tearing off the Velcro.
  • the attachment member 122 For the attachment member 122, it only needs to be detachably installed on the inner side of the fixing member 121. Therefore, it is not limited to adopting an integrally formed closed ring structure.
  • the attachment member 122 includes an arc-shaped unit ring 1226 and an adjusting member 1227.
  • the arc-shaped unit ring 1226 and the adjusting member 1227 are enclosed to form a closed annular ring A, and the adjusting member 1227 drives the closed annular ring A to be elastically clamped to The inside of the fixing member 121.
  • the arc-shaped unit ring 1226 and the adjusting member 1227 are alternately arranged at intervals, and the adjusting member 1227 is an elastic element, more precisely, it is a compression spring 1227.
  • the compression spring 1227 stretches and elastically drives the closed annular ring A to expand in the radial direction, so that the arc-shaped unit ring 1226 abuts against the inner side of the fixing member 121, when the number of the arc-shaped unit ring 1226 and the adjusting member 1227 is The two times shown in the figure constitute: the two ends of each arc-shaped unit ring 1226 are arranged correspondingly to the two ends of the other arc-shaped unit ring 1226, and the adjusting member 1227 is installed at the end of each arc-shaped unit ring 1226.
  • the number of the arc-shaped unit ring 1226 and the adjusting member 1227 can be determined according to the actual situation. When it is one, it is a C-shaped ring with an annular angle slightly less than 360 degrees.
  • the adjusting member 1227 is installed in the Between the two ends of the C-shaped ring, the C-shaped ring can be pressed against the inner side of the fixing member 121.
  • the attachment member 122 includes two arc-shaped unit rings 1226 and two adjusting members 1227.
  • the adjusting member 1227 is an arc-shaped connecting member 1227 with the same radius as the arc-shaped unit ring 1226.
  • the two adjusting members 1227 and the two arc-shaped unit rings 1226 are enclosed to form a closed annular ring A.
  • One end of the two arc-shaped unit rings 1226 The other end is hinged with an arc-shaped connecting piece 1227, and the arc-shaped connecting piece 1227 is hinged with one end away from the corresponding arc-shaped unit ring 1226.
  • the two arc-shaped connecting pieces 1227 are respectively mounted on the corresponding arc through the first connecting pin 1223 and the third connecting pin 1225.
  • the ends of the two arc-shaped unit rings 1226, and the ends of the two arc-shaped connecting pieces 1227 away from the arc-shaped unit ring 1226 are hinged to the second connecting pin 1224.
  • the attachment member 122 can be put into the fixing member 121 as a whole, and after putting the wrist into the arc-shaped unit ring 1226, pass The hand pushes the second connecting pin 1224 to the outside.
  • the two arc-shaped connecting pieces 1227 rotate clockwise and counterclockwise respectively, so that the two arc-shaped connecting pieces 1227 connect the two arc-shaped unit rings 1226. Expand until a circular ring is formed.
  • first connecting pin 1223, the second connecting pin 1224 and the third connecting pin 1225 are in a straight line during this process, there will be a certain elastic force, which is It is caused by the deformation of the part itself. At this time, it is necessary to continue to squeeze to overcome the deformation, and then the attachment member 122 cannot voluntarily overcome the deformation to return to its original shape, and the ferrule is tensioned inside the fixing member 121.
  • the wrist kit 123 is connected to the inner side of the attachment member 122 and is configured to be attached to the user's forearm or wrist. Specifically, as shown in FIG. 24, the wrist kit 123 includes a clamping member 1231 and a driving member 1232.
  • the clamping member 1231 is installed inside the attachment member 122 for clamping on the user's forearm or wrist, and the driving member 1232 It is drivingly connected with the clamping member 1231, and is used to maintain the clamping of the clamping member 1231 with the user's forearm or wrist.
  • the clamping member 1231 includes at least two clamping arms 1231a mounted on the inner side of the attachment member 122, and a housing for accommodating the user's forearm or wrist is formed between the clamping arms 1231a.
  • the driving member 1232 is connected with the clamping arm 1231a, and is used to drive the clamping arm 1231a to move in the direction of reducing the accommodating space b.
  • the number of clamping arms 1231a is two
  • the driving member 1232 is a torsion spring 1232
  • the two clamping arms 1231a are hinged.
  • the torsion spring 1232 is installed at the hinge joint of the clamping arm 1231a, and the torsion spring 1232 drives the clamping
  • the arms 1231a are close to each other.
  • the clamping arms 1231a have an arc-shaped structure.
  • the openings of the two clamping arms 1231a are arranged opposite to each other. The hole formed between the two openings is the accommodating space b.
  • the clamping arms 1231a Both ends of the attachment member 122 elastically abut against the inner side of the attachment member 122, wherein, in order to enable the clamping piece 1231 to smoothly roll in the attachment member 122, the inner surface of the attachment member 122 is a spherical surface, and both ends of the clamp arm 1231a
  • the universal balls 1233 are all installed, and the universal balls 1233 are in rolling contact with the inner side wall of the attachment member 122.
  • the torsion spring 1232 When the user wants to equip his forearm or wrist with the attachment member 122, he only needs to close his five fingers together and extend them into the hole to overcome the force of the torsion spring 1232 to open the accommodating space b formed by the two clamping arms 1231a. After putting the forearm or wrist in, the torsion spring 1232 returns to the original state and drives the two clamping arms 1231a to hug the user's forearm or wrist.
  • the wrist kit 123 is configured as shown in FIG. 26, that is, the driving member 1232 is a torsion spring 1232, the clamp arm 1231a is a curved rod, and one end of the clamp arm 1231a is hinged with the attachment member 122, twisted
  • the spring 1232 is installed at the hinge joint between the clamp arm 1231a and the attachment member 122.
  • the torsion spring 1232 drives the other end of the clamp arm 1231a to rotate inside the attachment member 122 to clamp the user's forearm or wrist.
  • the wrist kit 123 is configured as shown in FIGS. 27-28, that is, the driving member 1232 is a spring 1232, the clamp arm 1231a is enclosed to form a ring, and the spring 1232 is installed on the clamp arm 1231a and the attachment member 122 Between the inner sides of the brackets to drive the clamping arm 1231a to move toward the middle of the attachment member 122.
  • the number of the clamp arm 1231a is two
  • the spring 1232 is installed between the end of the clamp arm 1231a and the attachment member 122
  • the two ends of each clamp arm 1231a are installed with the spring 1232, all springs
  • the 1232 is arranged in parallel to ensure the movement stability of the clamping arm 1231a.
  • the clamping member 1231 with two or more clamping arms 1231a for clamping.
  • the clamping member 1231 can also be made of elastic material.
  • the U-shaped piece 1231, one side of the U-shaped piece 1231 is open, and the inside of the opening is the accommodating space b for accommodating the user’s wrist or forearm, and the driving piece 1232 is connected to at least one end of the U-shaped piece 1231 The part is used to drive the U-shaped piece 1231 to elastically deform to change the size of the accommodating space b.
  • the driving member 1232 is a telescopic valve 1232.
  • the telescopic valve 1232 is installed inside the attachment member 122.
  • the telescopic end of the telescopic valve 1232 expands and contracts, the size of the accommodating space inside the U-shaped piece 1231 changes.
  • the user stretches his forearm or wrist into the inside of the opening of the U-shaped piece 1231, and then rotates the telescopic valve 1232, the telescopic valve extends, so that the opening of the U-shaped piece 1231 becomes smaller, thereby reducing the accommodation space inside.
  • the side wall of the U-shaped piece 1231 clamps the user's forearm or wrist.
  • the fixing assembly is configured as shown in FIGS. 31-32
  • the driving member 1232 includes two curved slideways 1232a extending circumferentially along the inner side of the attachment member 122 and connected to the inner side of the attachment member 122 And corresponding to the tapered slider 1232b connected to the outer ends of the U-shaped piece 1231, one end of the curved slideway 1232a gradually approaches the middle of the attachment member 122 relative to the other end, that is, the curved slideway 1232a is attached along its length.
  • There is a certain height difference in the connecting member 122 and the two curved slides 1232a are arranged oppositely, and the two tapered sliders 1232b and the two curved slides 1232a are correspondingly arranged in sliding cooperation.
  • the curved slideway 1232a has a proximal end 1232c and a distal end 1232d.
  • the distal end 1232d gradually moves away from the inner side wall of the attachment member 122 relative to the proximal end 1232c, That is, the distance from the distal end 1232d to the inner side of the attachment member 122 is greater than the distance from the proximal end 1232c to the inner side of the attachment member 122.
  • the opening of the U-shaped piece 1231 is larger, and the user can extend the forearm or wrist into the opening of the U-shaped piece 1231, and then rotate the U-shaped piece 1231.
  • the slider 1232b slides toward the distal end 1232d on the corresponding curved slideway 1232a, so that the two sliders 1232b approach each other in the radial direction within the ferrule, and the opening of the U-shaped piece 1231 gradually becomes smaller. Clamp the user's wrist tightly.
  • the U-shaped piece 1231 made of elastic material is only a simple summary of its shape and structure. Those skilled in the art can design it as a C-shaped piece or a U-shaped piece according to actual needs, both of which can be used for this application. Scene.
  • the main control assembly 10 further includes a series joint 140.
  • An embodiment of the present application proposes a tandem movement mechanism for controlling the movement of surgical instruments, including the above-mentioned control handle 110, the wrist attachment component 120, and the tandem joint 140.
  • the tandem joint 140 is a tandem double-joint rotation mechanism, which includes two joints, and the axis of rotation of the two joints is vertical.
  • the control handle 110 is connected to the wrist attachment assembly 120 through the tandem joint 140 for controlling the movement of the handle 110
  • the state is decomposed and converted into the joint motion of the series joint 140 to be used as a control source. That is, by applying an external force to the control handle 110, the wrist attachment assembly 120 attached to the wrist is used as a fulcrum, so that the two joints of the series joint 140 are rotated, so that the joint of the series joint 140 can be rotated by the cable N or other transmission. Converted to the movement of surgical instruments.
  • the tandem joint 140 includes a deflection component 141 and a pitch component 142.
  • the deflection component 141 is connected to the control handle 110 through the pitch component 142 to form a pitch rotation joint.
  • the deflection component 141 is also attached to the wrist.
  • the connecting assembly 120 is rotatably connected to form a yaw rotation joint, and the pitch rotation joint is perpendicular to the rotation axis of the yaw rotation joint.
  • the axis of rotation of the deflection assembly 141 is perpendicular to the horizontal plane
  • the axis of rotation of the pitch assembly 142 is parallel to the horizontal plane.
  • the force parallel to the horizontal plane and the force perpendicular to the horizontal plane can be simultaneously applied to the control handle 110 through the wrist, or the force perpendicular to the horizontal plane or the force parallel to the horizontal plane can be separately applied to the control handle 110, so that the control handle 110 can drive the deflection assembly.
  • 141 rotates relative to the wrist attachment assembly 120 in a direction parallel to the horizontal plane and/or the pitch assembly 142 rotates relative to the deflection assembly 141 in a direction perpendicular to the horizontal plane.
  • the control handle 110 is forced through the wrist, that is, the arm is used as a lever, and the arm-wrist attachment assembly 120 is used as a fulcrum to pry the held control handle 110.
  • the deflection assembly 141 includes a traction frame 1411, the traction frame 1411 is provided with a rotation groove 1412 and a sliding groove 1413, the wrist attachment assembly 120 is rotatably inserted into the rotation groove 1412, and the The component 142 is movably connected to the sliding groove 1413, can slide in the sliding groove 1413, and can rotate relative to the traction frame 1411.
  • the trajectory of the wrist movement is not a straight line perpendicular to the horizontal plane, but an arc shape. That is, when the force exerted by the wrist on the control handle 110 is transmitted to the pitch assembly 142, it can be decomposed into a force F1/F1a perpendicular to the horizontal plane and a force F2/F2a parallel to the horizontal plane.
  • the force F1/F1a perpendicular to the horizontal plane drives the pitch assembly 142 to rotate in a direction perpendicular to the horizontal plane relative to the traction frame 1411
  • the force F2/F2a parallel to the horizontal plane drives the pitch assembly 142 to move in a direction parallel to the horizontal plane.
  • the sliding groove 1413 By providing the sliding groove 1413, the movement of the pitch assembly 142 in the direction parallel to the horizontal plane can be compensated, that is, the pitch assembly 142 can move in the sliding groove 1413, so as to avoid the lack of the pitch assembly 142 in the direction parallel to the horizontal plane when rotating. Stuttering caused by movement compensation.
  • the center of the pitch assembly 142 can also be set on the axis of the forcing arm, so that the pitch assembly 142 is only subject to the external force of rotation, that is, the center of the pitch assembly 142 and the axis of the forcing arm are aligned with each other.
  • the height difference H in the direction perpendicular to the horizontal plane is zero.
  • the pitch assembly 142 can be rotatably connected with the traction frame 1411, and there is no need to provide a sliding groove 1413 on the traction frame 1411.
  • the number of sliding grooves 1413 is two, which are provided on both sides of the traction frame 1411. It can be understood that, in some embodiments, the sliding groove 1413 may be provided with up to one, as long as the sliding groove 1413 can realize the displacement compensation of the pitch assembly 142 after being forced in the direction parallel to the horizontal plane. It can be understood that the shape of the sliding groove 1413 may be rectangular or arc-shaped, as long as the pitch assembly 142 can move in the sliding groove 1413.
  • the deflection assembly 141 further includes a deflection wheel 1414, a tension wheel 1415, and a connecting piece 1416.
  • the deflection wheel 1414, the tension wheel 1415 and the connecting piece 1416 are connected in sequence by screws and are all arranged in the rotating groove 1412.
  • the tension wheel 1415 is located between the deflection wheel 1414 and the connecting piece 1416.
  • the deflection wheel 1414 is provided with a deflection line groove 1417, the deflection line groove 1417 is arranged around the deflection wheel 1414, the tension wheel 1415 is provided with a first through hole 1418, and the connecting piece 1416 is provided with a second through hole 1419.
  • the number of one through hole 1418 and the second through hole 1419 are both two.
  • the first through holes 1418 are located on both sides of the tension wheel 1415, the second through holes 1419 are located on opposite sides of the connecting piece 1416, and the first through holes 1418 and the second through holes 1419 are concentric.
  • the connecting piece 1416 follows the deflection wheel 1414 together. It rotates and drives the cable N connected to the connecting piece 1416 to move.
  • the cables N respectively pass through the two second through holes 1419 located on both sides of the connecting piece 1416, that is, the connecting piece 1416 drives the cable N to move, that is, the cables located on both sides of the connecting piece are pulled by the swinging of the connecting piece 1416.
  • N resulting in that the cable N on one side is on the tensioned side N1, that is, in a tensioned state, and the cable N on the other side is on the relaxed side N2, that is, in a relaxed state.
  • the cable N on the tension side N1 is wound on the deflection slot 1417, while the cable N on the slack side N2 is detached from the deflection slot 1417, and the cables N on both sides are wound and contracted on one side.
  • the effect of detaching from the extension realizes the effect of pulling the surgical instrument to the tension side of the cable N.
  • cables N of different lengths can be adapted.
  • the tilting assembly 142 includes a connecting frame 1421, a tilting wheel 1422, a cable routing member 1423, and a connecting shaft 1424.
  • the pitch wheel 1422 and the cable 1423 are connected by a connecting shaft 1424.
  • the pitch wheel 1422 is located in the sliding groove 1413, and the cable routing member 1423 is fixedly connected to the connecting frame 1421.
  • the rotation of the pitch wheel 1422 is also achieved by forming a slack cable N on one side and tensioning the cable N on the other side to form a state where the cables N on both sides of the pitch wheel 1422 contract and extend, thereby driving the surgical instruments Swing in a direction perpendicular to the horizontal plane.
  • the pitch wheel 1422 is provided with a pitch wire groove 1428, and the pitch wire groove 1428 is arranged around the pitch wheel 1422.
  • the cable N is embedded in the pitch wire groove 1428 to realize the connection of the cable N to the pitch wire. On round 1422.
  • the pitch assembly 142 further includes a sliding block 1425.
  • the sliding block 1425 is connected to the cable routing member 1423 and is located outside the sliding groove 1413 and contacts the traction frame 1411. When the pitch wheel 1422 is in the sliding groove 1413 When moving inward, the slider 1425 slides on the traction frame 1411 together with the pitch wheel 1422.
  • the pitch assembly 142 further includes a sliding bearing 1426.
  • the sliding bearing 1426 is sleeved on the connecting shaft 1424 and is in contact with the side wall of the sliding groove 1413. When the pitch wheel 1422 moves in the sliding groove 1413 , The sliding bearing 1426 rolls on the side wall of the sliding groove 1413.
  • the pitch assembly 142 can be supported, and friction between the cable N on the pitch wheel 1422 and the inner wall of the sliding groove 1413 can be avoided.
  • the cable routing member 1423 is provided with a routing hole 1427, and the cable N passes through the routing hole 1427 and then is connected to the pitch wheel 1422 to pass through the distance between the cable hole 1427 and the pitch wheel 1422, The cable N is tensioned.
  • control handle 110 may be a device for controlling the movement of the surgical instrument such as a handle, a finger cuff, etc.
  • the surgical instrument is a clamp, and the clamping and loosening of the clamp is controlled by the handle.
  • control handle 110 can control the movement of the surgical instrument by wire rope traction, or it can be realized by providing a driving device such as a motor, an air cylinder and the corresponding control circuit, as long as the movement of the surgical instrument can be controlled by the control handle 110.
  • both ends of the deflection component 141 can be directly connected to the wrist attachment component 120 in rotation and connected to the control handle 110 through the pitch component 142, and the deflection component 141 is attached to the wrist.
  • the axis through which the assembly 120 forms a rotational connection and the axis through which the pitch assembly 142 and the control handle 110 form a rotational connection are perpendicular to each other.
  • the deflection component 141 forms a pitch revolute joint through the rotation connection formed between the pitch component 142 and the control handle 110, and the rotation connection between the deflection component 141 and the wrist attachment component 120 forms a deflection revolute joint.
  • the deflection assembly 141 can be directly rotationally connected with the control handle 110.
  • the component that realizes the rotational connection between the deflection assembly 141 and the control handle 110 is understood as the pitch assembly 142, such as a rotating shaft fitted with a shaft hole, bearings, hinges, etc., provided between the deflection assembly 141 and the control handle 110, and the deflection assembly 141 forms a pitch rotation joint between the pitch assembly 142 and the control handle 110.
  • the deflection assembly 141 is formed by the tilt assembly 142 and the control handle 110.
  • the rotation axis of the pitch revolute joint is parallel to the horizontal plane, and the deflection assembly 141 is perpendicular to the rotation axis of the deflection revolute joint formed by the wrist attachment component 120. In the horizontal plane.
  • the rotation axis of the deflection assembly 141 formed by the tilt assembly 142 and the control handle 110 can be perpendicular to the horizontal plane, and the deflection assembly 141 is attached to the wrist.
  • the rotation axis of the component 120 forming the revolute joint is parallel to the horizontal plane.
  • the wrist attachment assembly 120 is provided with a thread-passing groove 1213, and the thread-passing groove 1213 is looped on the outer wall of the wrist attachment component 120.
  • the cable N is connected to the deflection assembly 141, the part of the cable N passing through the wrist attachment assembly 120 is received in the cable trough 1213. It can be understood that when the deflection assembly 141 is deflected so that the surgical instrument is pulled through the cable N, the cable N slides in the cable trough 1213.
  • the fixing member 121 is rotatably connected with the traction frame 1411, the wire passing groove 1213 is looped on the outer wall of the fixing member 121, and the attachment member 122 is embedded on the inner wall of the fixing member 121.
  • a rotating shaft 1214 is provided on the outer wall of one end of the fixed member 121 rotatably connected with the traction frame 4111, and a rotating bearing 1215 is sleeved on the rotating shaft 1214.
  • the rotating bearing 1215 is arranged on the traction frame 411 and connected with the traction frame 411 to pass the rotating shaft. The relative rotation between 1214 and the rotation bearing 1215 realizes the rotation connection between the wrist attachment assembly 120 and the tandem joint 140.
  • one end of the frame 130 is provided with a connecting portion 131 connected to the surgical instrument.
  • One end of the surgical instrument can be connected to the frame 130 through the connecting portion 131.
  • the wrist attachment assembly 120 and the frame 130 are fixed on the side away from the connecting portion 131. connect.
  • the connecting portion 131 may be any component such as a buckle, a groove, a magnetic attraction member, etc., as long as the surgical instrument can be connected to the frame 130 through the connecting portion 131.
  • the cables N are respectively connected to one end of the surgical instrument away from the frame 130, two sides parallel to the horizontal plane and two sides perpendicular to the horizontal plane.
  • the cables N connected to the two sides of the surgical instrument parallel to the horizontal plane are all connected to the deflection assembly 141, and the cables N connected to the two sides of the surgical instrument perpendicular to the horizontal plane are all connected to the pitch assembly 142.
  • the arm passes through the wrist attachment assembly 120 and holds the control handle 110, when the wrist is deflected along the horizontal plane, the arm is used as a lever and the contact point between the arm and the wrist attachment assembly 120 is used as the fulcrum, and the series joint 140 is driven by the control handle 110 Deflection together, so that the series joint 140 rotates relative to the wrist attachment assembly 120, even if the deflection assembly 141 on the series joint 140 is deflected.
  • a cable N is connected between the deflection assembly 141 and the end of the surgical instrument away from the frame 130, and one end of the surgical instrument is connected to the connecting portion 131 of the frame 130, when the deflection assembly 141 is deflected, the cable N is used to drive the surgical instrument Deflection in a direction parallel to the horizontal plane.
  • the contact point between the arm and the wrist attachment assembly 120 is also used as the fulcrum, and the pitch assembly 142 on the connecting frame 1421 is driven to rotate relative to the traction frame 1411 through the control handle 110, thereby using the cable N Drive the surgical instrument to deflect in a direction perpendicular to the horizontal plane.
  • the cable N is a rigid rope, and when it is connected to the surgical instrument, the deflection assembly 141 and the pitch assembly 142, the cable N is in a tensioned state.
  • the cable N is a steel wire rope.
  • the way in which the cable N is connected to the pitch assembly 142 is wound around the pitch assembly 142.
  • the pitch assembly 142 rotates relative to the traction frame 1411, the friction force between the cable N and the pitch assembly 142 drives the cable N Apply force to surgical instruments.
  • the surgical instrument can be a clamp, a needle tube, a knife, etc.
  • the execution end is provided with a movable joint, and is connected to the frame 130 through a rigid elongated rod to connect the surgical instrument to the cable N.
  • the connection between the rigid slender rod and the frame is used as the fulcrum, and the movable joint is used to move the surgical instrument.
  • the frame 130 includes a cable tray 132 and a bundle housing 133.
  • the connecting portion 131 is disposed at one end of the cable rack 132, the bundle shell 133 is connected to an end of the cable rack 132 away from the connecting portion 131, and the cable rack 132 is connected to the wrist attachment assembly 120 through the bundle shell 133.
  • the cable rack 132 is hollow inside. After the cable N is connected to the surgical instrument, it extends from the end of the cable rack 132 close to the connecting portion 131 into the bundle shell 133, and passes through the bundle shell 133 to interact with the deflection assembly 141 and pitch The component 142 is connected.
  • the bundle housing 133 is provided with a cable hole 1331. After the cable N extends to the bundle shell 133, the cable N connecting the pitch assembly 142 and the surgical instrument passes through the cable hole 1331 out of the bundle shell 133 to realize the connection The pitch assembly 142 is connected.
  • the wiring hole 1427 and the wiring hole 1331 are countersunk holes, and a spring sleeve (not shown) is provided between the wiring hole 1427 and the wiring hole 1331, and both ends of the spring sleeve are respectively inserted in the wiring hole.
  • the cable N passes through the cable hole 1331 and then enters the cable hole 1427 through the spring sleeve.
  • the function of the spring sleeve is to provide elastic force to the cable N when the pitch wheel 1422 slides in the sliding groove 1413 to prevent the cable N from slackening.
  • the cable housing 133 does not close the wire groove 1213, so that the cable N can enter the cable groove 1213 from the cable housing 133.
  • a plurality of guide wheels 1321 are provided in the cable rack 132. After the cable N enters the cable rack 132 from the connecting portion 131, the cable N is guided by the plurality of guide wheels 1321 to help the cable N pass from the connecting portion 131. Turning during the process of extending into the bundle housing 133, and keeping the cable N under tension.
  • the position of the guide wheels 1321 in the cable rack 132 can be adjusted according to the shape of the cable rack 132, as long as it can help the cable N to steer in the cable rack 132 and keep the cable N tight. .
  • the guide wheels 1321 can be omitted, and the inner wall of the cable rack 132 can also be used to steer and tension the cable N.
  • a steering wheel 1322 is also provided in the wire rack 132.
  • the steering wheel 1322 is arranged at an end of the wire rack 132 away from the bundle housing 133. After passing through the steering wheel 1322, the cable N passes through the wire hole 1331 out of the bundle housing 133. , To connect with the pitch assembly 142.
  • the actuator 20 is composed of multiple movable joints, which can be in the form of hinges or levers, as long as the actuator 20 can be driven to deflect in a direction parallel to the horizontal plane and perpendicular to the horizontal plane through a cable and a series motion mechanism. .
  • the operating principle of the tandem movement mechanism is as follows: firstly, connect the cables to the end of the actuator 20 away from the frame 130, parallel to the opposite sides of the horizontal plane and perpendicular to the opposite sides of the horizontal plane, and will be parallel to the horizontal plane.
  • the cables on both sides are connected to the deflection assembly 141, and the cables on the opposite sides perpendicular to the horizontal plane are connected to the pitch assembly 142, so that the actuator 20, the pitch assembly 142 and the deflection assembly 141 are connected together by cables.
  • the surgical instrument needs to be deflected left and right in the direction parallel to the horizontal plane, just twist the wrist left and right to attach the assembly 120 with the arm and wrist.
  • the contact point is the fulcrum.
  • the connecting frame 1421 and the traction frame 1411 are driven to rotate relative to the wrist attachment assembly 120 through the control handle 110, that is, the deflection assembly 141 on the traction frame 1411 rotates, so that the surgical instrument is pulled by the cable to deflect left and right.
  • the tandem joint 140 is driven by the control handle 110 to decompose the compound movement of the control handle 110 into a rotation parallel to the horizontal direction and a rotation perpendicular to the horizontal plane, and the rotation movement is transmitted to the actuator 20, so that only the control is required.
  • the handle 110 can realize the operation of the executive assembly 20, and reduce the work load and the inconvenience of operation caused by the frequent movement of the arm during the operation.
  • the actuator 20 is composed of multiple movable joints, which can be in the form of hinges and levers, as long as the cable N and the tandem movement mechanism can drive the actuator 20 in parallel to the horizontal plane and Deflection movement in the direction perpendicular to the horizontal plane is sufficient.
  • the connecting assembly 40 includes a main transmission mechanism 400 and a slave transmission mechanism 500.
  • the main transmission mechanism 400 includes a main transmission base 410 and a main transmission member.
  • the main transmission base 410 can be fixedly connected to the main control assembly 10 that outputs and executes actions, and the main transmission member is disposed on the main transmission base. 410.
  • the main transmission component can also be connected to the main control assembly 10 in transmission.
  • the slave transmission mechanism 500 includes a slave transmission base 510 and a slave transmission member.
  • the slave transmission base 510 can be fixedly connected to the actuator 20 that receives the execution action.
  • the slave transmission member is arranged on the slave transmission base 510, and the slave transmission member can also be transmitted with the execution assembly 20. connect.
  • the main transmission base 410 and the slave transmission base 510 are detachably matched. When the main transmission base 410 and the slave transmission base 510 are matched, the main transmission part and the slave transmission part are drivingly connected.
  • the connecting assembly 40 can not only be connected to the main control assembly 10 and the executive assembly 20 respectively, but also realize the transmission function between the main control assembly 10 and the executive assembly 20.
  • the connection assembly 40 The detachable mating relationship between the main transmission mechanism 400 and the slave transmission mechanism 500 also allows separation between the main control assembly 10 and the execution assembly 20.
  • the connecting component 40 provided in the present application not only allows the main control component 10 to be used in conjunction with different types of executive components 20, but also can perform disinfection and sterilization of the corresponding specifications on the main control component 10 and the executive component 20 after use. This effectively saves the cost of disinfection of minimally invasive surgical instruments and reduces the difficulty of disinfection of minimally invasive surgical instruments.
  • main transmission base 410 and the main control assembly 10 are directly fixedly connected or fixedly connected through an intermediate connection assembly 40, and similarly, the transmission base 510 and the executive assembly 20 are fixedly connected or fixed through an intermediate connection assembly 40. connect.
  • the main transmission base 410 and the other end of the frame 130 away from the wrist attachment assembly 120 are integrally formed.
  • the minimally invasive surgical instrument further includes a connecting rod 30 with a hollow structure.
  • One end of the connecting rod 30 is connected with the actuator 20, and the other end of the connecting rod 30 is fixedly connected with the slave transmission base 510.
  • the inside of the connecting rod 30 allows the transmission connecting the actuator 20 and the structural parts of the slave transmission to pass through.
  • the structural member is a cable.
  • the connecting rod 30 can effectively increase the distance between the main control assembly 10 and the execution assembly 20, allowing the surgeon to have a larger operating space.
  • the connecting rod 30 and the frame 130 can be connected through the connecting assembly 40. After use, the connecting rod 30 and the frame 130 can be easily separated, which is convenient for subsequent disinfection or replacement of different types of actuators 20.
  • the sequential transmission among the main control component 10, the main transmission component, the slave transmission component and the executive component 20 ensures that the executive component 20 performs actions under the control of the main control component 10.
  • the main transmission member includes a first main transmission portion and a second main transmission portion, the first main transmission portion and the second main transmission portion are fixedly connected, and the first main transmission portion and the second main transmission portion are provided On the main transmission base 410, the first main transmission part can be drivingly connected with the main control assembly 10.
  • the slave transmission part includes a first slave transmission part and a second slave transmission part. The first slave transmission part and the second slave transmission part are fixedly connected. The first slave transmission part and the second slave transmission part are arranged on the slave transmission base 510. The slave transmission part can be drivingly connected with the executive assembly 20.
  • the main transmission base 410 is matched with the slave transmission base 510, the second main transmission part and the second slave transmission part are drivingly connected.
  • the main control assembly 10, the first main transmission part, the second main transmission part, the second slave transmission part, the first slave transmission part, and the executive assembly 20 are sequentially connected in transmission.
  • a fixed connection is realized through a fixing member, or the first main transmission part and the second main transmission part are fixedly connected
  • the first slave transmission part and the second slave transmission part are respectively an integral structure.
  • the first main transmission part, the second main transmission part, the second slave transmission part and the first slave transmission part cooperate to realize the transmission connection between the main control assembly 10 and the executive assembly 20, which has a stable structure and is convenient Advantages of disassembly.
  • the transmission connection between the first main transmission part and the second main transmission part, and between the first slave transmission part and the second slave transmission part may also be realized in other ways. It can be understood that, in the above-mentioned embodiment, when the main transmission base 410 and the slave transmission base 510 are separated, the second main transmission part and the second slave transmission part are also separated, which is convenient for the main control assembly 10 and the executive assembly 20 to perform separate operations. Corresponding follow-up treatment (such as disinfection, etc.).
  • the main control assembly 10 and the main transmission mechanism 400 and the execution assembly 20 and the slave transmission mechanism 500 are respectively connected by cables.
  • the cable includes a control cable 450 and an execution cable 570.
  • the type of the first main transmission part or the first slave transmission part includes a winding wheel, a sprocket or a pulley.
  • the first main transmission part and the main control assembly 10 pass through a control cable 450 , Control chain or control belt transmission connection, the first main transmission part allows the control cable 450, control chain or control belt to be wound or bypassed.
  • the first slave transmission part and the execution assembly 20 are connected by an execution cable 570, an execution chain or an execution belt transmission, and the first slave transmission part allows the execution cable 570, an execution chain or an execution belt to be wound or bypassed.
  • Cables, chains, and belt-type transmission modes can effectively realize the transmission connection between the first main transmission part and the main control assembly 10 and between the first slave transmission part and the executive assembly 20.
  • the first main transmission part and the main control assembly 10 are connected by a control cable 450
  • the first slave transmission part and the executive assembly 20 are connected by an execution cable.
  • 570 transmission connection correspondingly, the first main transmission part and the first slave transmission part are respectively winding wheels.
  • the cable-type transmission mode can simplify the structure of the first main transmission part and the first slave transmission part.
  • the control cable 450 and the execution cable 570 are respectively flexible cables, such as steel wires, ropes, and the like.
  • the second main transmission part and the second slave transmission part both include gears, and the second main transmission part and the second slave transmission part constitute a gear pair.
  • gear transmission can facilitate rapid meshing and separation, and has good interchangeability.
  • the first main transmission part and the first slave transmission part are respectively winding wheels, the first main transmission part and the second main transmission part form a main winding gear 420, and the main winding gear 420 is rotatably mounted on the main transmission base 410 .
  • a slave winding gear 520 is formed between the first slave transmission part and the second slave transmission part, and the slave winding gear 520 is rotatably mounted on the slave transmission base 510.
  • the main winding gear 420 is connected to the main control assembly 10 through a control cable 450, and the slave winding gear 520 is connected to the execution assembly 20 through an execution cable 570.
  • the main transmission base 410 and the slave transmission base 510 are matched, the main winding gear 420 and the slave winding gear 520 realize meshing transmission.
  • the main transmission base 410 and the slave transmission base 510 are separated, the main winding gear 420 and the slave winding gear 520 are separated .
  • the second main transmission part includes a polygonal shaft (or polygonal groove), and the second slave transmission part includes a polygonal groove (or polygonal shaft).
  • the first The second main transmission part and the second slave transmission part are inserted and matched.
  • the structural form of the polygonal shaft and the adapted polygonal groove (for example, a hexagon) can also facilitate the transmission cooperation and separation between the second main transmission part and the second slave transmission part.
  • the first main transmission part and the second main transmission part form a male reel 430, and a male reel 430 It is rotatably installed on the main transmission base 410.
  • a female spool 530 is formed between the first slave transmission part and the second slave transmission part, and the female spool 530 is rotatably mounted on the slave transmission base 510.
  • the male reel 430 is connected to the main control assembly 10 through a control cable 450, and the female reel 530 is connected to the executive assembly 20 through an executive cable 570.
  • the male reel 430 and the female reel 530 realize the coordinated transmission.
  • the male reel 430 and the female reel 530 are separated .
  • the first main transmission part may form a female reel
  • the second main transmission part may form a male reel.
  • the first main transmission part and the second main transmission part cooperate with the first slave transmission part and the second slave transmission part to realize the pitching or deflection of the actuator 20.
  • the actuator 20 can realize pitching or deflection so as to effectively enhance the versatility of the actuator 20 and its adaptability to actual working conditions.
  • the main transmission member includes four groups of first main transmission parts and second main transmission parts, and the four first main transmission parts are respectively connected to the main control assembly 10 in transmission.
  • the slave transmission part includes four groups of first slave transmission parts and second slave transmission parts, and the four first slave transmission parts are respectively connected with the actuator 20 in transmission.
  • the four second main transmission parts are respectively connected to a corresponding second slave transmission part.
  • the four groups of the first main transmission part and the second main transmission part and the four groups of the first slave transmission part and the second slave transmission part are respectively used The actuator 20 is driven to realize pitch, pitch, left deflection or right deflection.
  • the main transmission part includes four main winding gears 420
  • the slave transmission part also includes four slave winding gears 520, four main winding gears 420 and four main winding gears.
  • the two slave winding gears 520 are matched in one-to-one correspondence to realize transmission.
  • the main control assembly 10 controls the pitch, elevation, left deflection or right deflection of the execution assembly 20.
  • the main transmission component includes four male reels 430
  • the slave transmission component also includes four female reels 530, four male reels 430 and The four female reels 530 cooperate in one-to-one correspondence to realize transmission
  • the control cable 450 and the execution cable 570 are supplemented to realize the control of the main control assembly 10 on the pitch, elevation, left deflection or right deflection of the executive assembly 20.
  • the pitch and pitch in this embodiment means that the actuator 20 rotates in different directions around the same pitch axis
  • the left and right deflection means that the actuator 20 rotates in different directions around the same yaw axis.
  • the axis of the pitch shaft, the axis of the yaw shaft, and the axis of the connecting rod 30 are perpendicular to each other.
  • the main transmission component further includes a main closing portion 440, which is disposed on the main transmission base 410, and the main closing portion 440 can be drivingly connected with the main control assembly 10.
  • the slave transmission member also includes a slave closing part, which is arranged on the slave transmission base 510, and is drivingly connected to the executive assembly 20 from the closing part.
  • the main closing portion 440 and the slave closing portion are drivingly connected.
  • the main closing part 440 drives the slave closing part to act to control the closing of the actuator 20.
  • the cooperation of the master closing part 440 and the slave closing part can allow the master control assembly 10 to control the execution assembly 20 to perform the closing action.
  • the transmission connection between the main closing part 440 and the main control assembly 10 and between the slave closing part and the execution assembly 20 can be realized by means of cables, chains or transmission belts.
  • the main closing part 440 and the main control assembly 10 are connected by a main closing cable 460, and the main closing part 440 is slidably disposed on the main closing base.
  • the closing part and the actuator 20 are connected through a closing cable 550, and a closing pin 518 is provided on the transmission base 510.
  • the closing pin 518 allows the closing cable 550 to approach the end of the closing part and change the extension direction after passing around.
  • the main closing part 440 includes a main closing slider 441 and a main resetting member 442.
  • the main closing slider 441 is slidably disposed on the main closing base, and the main closing slider 441 is connected to the main control assembly 10
  • the control handle 110 is fixedly connected by the main closing cable 460, and the main resetting member 442 is disposed between the main transmission base 410 and the main closing slider 441.
  • the slave closing part includes a slave closing block 540.
  • the slave closing block 540 can be fixedly connected to the end of the slave closing cable 550 away from the actuator 20.
  • the main closing slider 441 moves under the pulling of the main closing cable 460, the main closing slider 441 drives the slave closing slider to move in the direction of the tensioning slave closing cable 550, and at the same time, the main closing slider 441 compresses the main reset member 442. , The main reset member 442 pushes the main closing slider 441 in the direction of releasing the closing cable 550. The main reset member 442 can push the main closing slider 441 to reset when the tension of the main closing cable 460 disappears, thereby allowing the actuator 20 to expand.
  • the main restoring member 442 may be a spring, elastic rubber, or the like.
  • a closing protrusion 443 is provided on the main closing slider 441, and the closing groove 541 is opened and closed on the slave closing block 540.
  • the closing of the main closing slider 441 The protrusion 443 is matched with the closing groove 541 on the slave closing block 540.
  • the closing protrusion 443 and the closing groove 541 can enhance the stability of the connection between the slave closing block 540 and the master closing slider 441.
  • the slave transmission mechanism 500 further includes an expansion part, which is drivingly connected with the actuator 20, and when the expansion part acts alone, the actuator 20 is kept in an expanded state.
  • the opening part can drive the actuator 20 in the closed state to perform an opening action.
  • the expansion part includes an expansion spring 560, an expansion shaft 519 is provided on the transmission base 510, one end of the expansion spring 560 is fixedly connected to the slave transmission base 510, and the other end (free end) of the expansion spring 560 is fixedly connected to the transmission base 510.
  • the expansion cable 580 is connected to the actuator 20, and the expansion cable 580 bypasses the expansion shaft 519 and is fixedly connected to the free end of the expansion spring 560.
  • the opening spring 560 When the actuator 20 is in the closed state, the opening spring 560 is in a tensioned state. When the tension of the main closing cable 460 disappears, the main resetting member 442 pushes the main closing slider 441 to reset, and the opening spring 560 is at least partially restored. The elastic deformation drives the actuator 20 to open.
  • the main transmission base 410 and the slave transmission base 510 are both shells, and the main transmission base 410 and the slave transmission base 510 are respectively enclosed It is assumed that a cavity with an opening is formed.
  • the main transmission part and the slave transmission part are respectively arranged in corresponding cavities.
  • the main transmission part and the slave transmission part are drivingly connected at the opening of the corresponding cavity.
  • the main transmission base 410 and the slave transmission base 510 of the housing type can protect the main transmission part and the slave transmission part, and can reduce the weight of the connecting assembly 40 at the same time.
  • main transmission base 410 and the slave transmission base 510 are detachably fixedly connected by a snap connection or a threaded connection. Both methods can realize the detachable and fixed connection between the main transmission base 410 and the slave transmission base 510, and at the same time have the advantages of stable connection and repeated use.
  • the connecting assembly 40 further includes a first pawl 511 and a second pawl 512.
  • the first claw 511 and the second claw 512 are respectively rotatably arranged on the slave transmission base 510, and the first claw 511 and the second claw 512 can clamp the main transmission base 410 in a vertical direction.
  • the rotation shafts of the first pawl 511 and the second pawl 512 are respectively provided with torsion springs, and the first pawl 511 and the second pawl 512 are driven by the corresponding torsion spring to rotate in the direction of clamping the main transmission base 410.
  • the first claw 511 can be buckled with the first buckle 411 on the main transmission base 410
  • the second claw 512 can be buckled with the second buckle 412 on the main transmission base 410.
  • the disassembly and assembly are best performed when the actuator 20 has a pitch deflection of 0° and the opening and closing angle is the largest, so as to ensure that the operating conditions are the same every time the device is replaced.
  • the first claw 511 and the second claw 512 can also clamp the main transmission base 410 in a non-vertical direction, for example, the first claw 511 and the second claw 512 are at 30°, 45°, 60° , 75° or 120° and other cross angles.
  • the first pawl 511 rotates counterclockwise under the action of the torsion spring
  • the second pawl 512 rotates clockwise under the action of the torsion spring.
  • the connecting assembly 40 further includes a third claw 513 and a fourth claw 514.
  • the ends of the third claw 513 and the fourth claw 514 are respectively a clamping end 515 and a pressing end.
  • the middle part of the third claw 513 and the middle part of the fourth claw 514 are respectively rotatably arranged on the slave transmission base 510, and the third A torsion spring is provided at the rotating shafts of the pawl 513 and the fourth pawl 514, respectively.
  • the clamping end 515 of the third pawl 513 and the clamping end 515 of the fourth pawl 514 are driven by the corresponding torsion spring to approach each other and form a lock.
  • Slot 517 is another achievable way.
  • the main transmission base 410 is provided with a positioning rod 413.
  • the positioning rod 413 is clamped into the clamping end 515 of the third claw 513 and the clamping end 515 of the fourth claw 514.
  • the card slot 517 When the pressing end of the third claw 513 and the pressing end of the fourth claw 514 are pressed, the clamping end 515 of the third claw 513 and the clamping end 515 of the fourth claw 514 are far away from each other, and the third claw 513 And the fourth claw 514 releases the positioning rod 413.
  • a positioning slot is formed on the transmission base 510, and the positioning slot can avoid the positioning rod 413 when the positioning rod 413 is locked in.
  • the main bodies of the third claw 513 and the fourth claw 514 are arranged inside the slave transmission base 510, and the pressing ends of the third claw 513 and the fourth claw 514 are provided with a button 516, and the button 516 passes through the slave transmission base 510. 510 to the outside. The operator presses the pressing ends of the third claw 513 and the fourth claw 514 by pressing the button 516.
  • the pressing end of the third claw 513 is an inclined surface
  • the pressing end of the fourth claw 514 is also an inclined surface.
  • the pressing end of the third claw 513 and the fourth claw 513 are also inclined.
  • the pressing end of 514 forms a V-shaped surface.
  • the main control assembly 10 and the main transmission mechanism 400 and the execution assembly 20 and the slave transmission mechanism 500 are respectively connected by cables, and the execution assembly 20 and the slave transmission mechanism 500 are connected by cables.
  • the cable between the transmission mechanism 500 passes through the connecting rod 30.
  • the slave transmission base 510 and the connecting rod 30 are fixedly connected through the connecting assembly 40 or through integral molding.
  • the main transmission base 410 and the main control assembly 10 are fixedly connected by the connecting assembly 40, or the main transmission base 410 and the end of the main control assembly 10 are integrally formed.
  • the type of the executive component 20 includes a clamp type, a scissor type, a hook type or a puncture type instrument.
  • the cable between the main control assembly 10 and the main transmission mechanism 400 at least partially passes through the frame 130.

Abstract

一种手腕附接组件（120）、控制手柄（110）、串联运动机构及微创手术器械。该手腕附接组件（120）包括固定构件（121）和附接构件（122）。固定构件（121）为环形，固定构件（121）的内侧具有呈环形球面的第一表面（1a），第一表面（1a）的球心位于第一表面（1a）的两侧边缘之间。附接构件（122）为环形，附接构件（122）的外侧具有呈环形球面的第二表面（2a），第一表面（1a）的球心与第二表面（2a）的球心重合且第二表面（2a）至少部分接触于第一表面（1a），第二表面（2a）的宽度小于第一表面（1a）的宽度，以使附接构件（122）能够相对固定构件（121）自由滚转，附接构件（120）的滚转中心为第一表面（1a）的球心。

Description

手腕附接组件、控制手柄、串联运动机构及微创手术器械 技术领域
本申请涉及微创手术器械的技术领域，具体涉及一种手腕附接组件、控制手柄、串联运动机构及微创手术器械。
背景技术
微创手术与传统的开放式手术相比，具有手术切口小、出血量少、术后疤痕小、恢复时间快等优点，这使得病人遭受的痛苦大大减少。当前微创手术在外科手术的各个领域得到了广泛的运用，如神经外壳、脑外科、泌尿外科、胸腹外科、妇科、泌尿外科。
一般的微创手术器械大多包含近端控制组件、连接杆件和远端执行组件(包括钳式、剪式、钩式或穿刺式的器械)，且连接杆件中部有线穿过以达到近端控制器能够操纵远端执行组件的效果。不同类型的远端执行组件分别用于完成对脏器组织的切割、夹持、缝合、提拉和游离等手术操作。但一般的微创手术器械件较多，结构较为复杂，制作成本昂贵，不方便使用及推广。
发明内容
根据本申请的各种实施例，提供一种手腕附接组件、控制手柄、串联运动机构及微创手术器械。
根据本申请实施例的一种手腕附接组件，包括：
固定构件，所述固定构件为环形，所述固定构件的内侧具有呈环形球面的第一表面，所述第一表面的球心位于所述第一表面的两侧边缘之间；
附接构件，所述附接构件为环形，所述附接构件的外侧具有呈环形球面的第二表面，所述第一表面的球心与所述第二表面的球心重合且所述第二表面至少部分接触于所述第一表面，所述第二表面的宽度小于所述第一表面的宽度，以使所述附接构件能够相对所述固定构件自由滚转，所述附接构件的滚转中心为所述第一表面的球心。
根据本申请实施例的一种手腕附接组件，包括：
固定构件，所述固定构件呈环形；
附接构件，所述附接构件与所述固定构件可拆卸连接；
腕部套件，所述腕部套件连接于所述附接构件的内侧，并被配置成附接至使用者的前臂或手腕。
根据本申请实施例的一种控制手柄，包括：
基体结构；
拨轮结构，包括：
拨轮壳体，所述拨轮壳体一端开设有进线孔、另一端与所述基体结构转动连接；
线缆转接件，所述线缆转接件能够在所述拨轮壳体内移动；
线缆，所述线缆从所述进线孔进入所述拨轮壳体，并通过所述线缆转接件转接，再与所述基体结构连接；
其中，所述线缆转接件在连接所述线缆的同时，还能使连接于所述线缆连接件的前后线缆之间可沿轴向相对转动。
根据本申请实施例的一种串联运动机构，包括：
手腕附接组件，与手腕附接；
控制手柄；
串联关节，包括两个关节，且所述两个关节的转动轴轴线垂直，所述控制手柄通过所述串联关节与所述手腕附接组件连接，用于将所述控制手柄的运动状态分解转换成所述串联关节的关节运动。
根据本申请实施例的一种微创手术器械，包括：
主控制组件；
执行组件；及
连接组件，设置于所述主控制组件以及所述执行组件之间，所述连接组件包括：
主传动机构，包括主传动基体和主传动件，所述主传动基体能够与输出执行动作的所述主控制组件固定连接，所述主传动件设置于所述主传动基体，所述主传动件还能够与所述主控制组件传动连接；
从传动机构，包括从传动基体和从传动件，所述从传动基体能够与接收执行动作的所述执行组件固定连接，所述从传动件设置于所述从传动基体，所述从传动件还能够与所述执行组件传动连接；
所述主传动基体与所述从传动基体可拆卸的配合，所述主传动基体与所述从传动基体配合时，所述主传动件与所述从传动件传动连接。
本申请的一个或多个实施例的细节在下面的附图和描述中提出。本申请的其他特征、目的和优点将从说明书、附图以及权利要求书变得明显。
附图说明
为了更好地描述和说明这里公开的那些申请的实施例和/或示例，可以参考一幅或多幅附图。用于描述附图的附加细节或示例不应当被认为是对所公开的申请、目前描述的实施例和/或示例以及目前理解的那些申请的最佳模式中的任何一者的范围的限制。
图1为本申请一实施例提供的微创手术器械结构示意图；
图2为本申请一实施例提供的控制手柄的结构示意图；
图3为图2中的拨轮结构的结构示意图；
图4为图2中的基体结构的结构示意图；
图5为图4中控制部的结构示意图；
图6为图4中位移件的结构示意图；
图7为图4中驱动件、限制件、位移件及控制部的装配示意图；
图8为本申请另一实施例提供的控制手柄的结构示意图；
图9为图8中基体结构的截面示意图；
图10为图9中限制件处的放大示意图；
图11为本申请又一实施例提供的控制手柄的结构示意图；
图12为图11中基体结构的截面示意图；
图13为图12中限制件处的放大示意图；
图14为本申请再一实施例提供的控制手柄的结构示意图；
图15为图14中基体结构的截面示意图；
图16为图15中限制件处的放大示意图；
图17为本申请一实施例提供的手腕附接组件的结构示意图；
图18为图17的爆炸示意图；
图19为图17的纵向截面示意图；
图20为本申请另一实施例中的阻挡件的结构示意图；
图21为本申请一实施例中的附接构件安装前的的位置示意图；
图22为图21中附接构件安装后的的位置示意图；
图23为本申请一实施例提供的手腕附接组件的结构示意图；
图24为图23中的附接构件及腕部套件的结构示意图；
图25为图23中的万向滚珠的结构示意图；
图26为本申请另一实施例提供的附接构件及腕部套件的结构示意图；
图27为本申请又一实施例提供的附接构件及腕部套件的结构示意图；
图28为图27中附接构件及腕部套件的结构示意图；
图29为本申请另一实施例提供的手腕附接组件的结构示意图；
图30为图29中附接构件的结构示意图；
图31为本申请又一实施例提供的手腕附接组件的结构示意图；
图32为图31中附接构件的结构示意图；
图33为本申请一实施例提供的串联运动机构的结构示意图；
图34为图33中的串联关节的爆炸结构示意图；.
图35为本申请一实施例中的偏转组件及俯仰组件与执行组件通过线缆连接的位置关系示意图；
图36为图34中的牵引架的结构示意图；
图37为控制手柄在垂直于水平面方向上转动的原理示意图；
图38为图34中的偏转组件的结构示意图；
图39为偏转组件上连接线缆的位置关系及受力原理示意图；
图40为图34中俯仰组件的爆炸结构示意图；
图41为图40中B处的局部放大图；
图42为俯仰组件上连接牵引带的位置关系示意图；
图43为俯仰组件与牵引架的位置关系示意图；
图44为偏转组件通过俯仰组件与控制手柄形成转动连接的位置关系示意图；
图45为图33中的手腕附接组件的结构示意图；
图46为本申请另一实施例提供的串联运动机构及框架的结构示意图；
图47为图46中框架的结构示意图；
图48为图47中框架的爆炸结构示意图；
图49为图48中A处的局部放大示意图；
图50为图1中的执行组件及连接杆的结构示意图；
图51为图1中的主控制组件与主传动机构的装配结构示意图；
图52为本申请一实施例提供的主传动机构的放大结构示意图；
图53为本申请一实施例提供的从传动机构放大结构示意图；
图54为本申请一实施例提供的主闭合部与从闭合部装配结构示意图；
图55为本申请一实施例提供的微创手术器械平面结构示意图；
图56为本申请另一实施例提供的主传动机构示意图；
图57为本申请另一实施例提供的从传动机构示意图；
图58为本申请另一实施例提供的连接组件的第一立体结构示意图；
图59为本申请另一实施例提供的连接组件的装配结构示意图；
图60为本申请另一实施例提供的连接组件的第二立体结构示意图。
具体实施方式
以下结合附图对本申请的原理和特征进行描述，所举实例只用于解释本申请，并非用于限定本申请的范围。在下列段落中参照附图以举例方式更具体地描述本申请。根据下面说明和权利要求书，本申请的优点和特征将更清楚。需说明的是，附图均采用非常简化的形式且均使用非精准的比例，仅用以方便、明晰地辅助说明本申请实施例的目的。
微创手术器械是完成微创手术的主要工具，一般包括近端的主控制组件和远端的执行组件。近端的主控制组件能够允许医生进行操作，近端的主控制组件和远端的执行组件之间传动连接，进而远端的执行组件能够根据医生的操作动作执行相应的动作，比如切割、夹持、缝合、提拉或者游离等。本申请提供一种连接组件，不仅能够实现近端的主控制组件和远端的执行组件之间的固定连接，使两者成为一个整体，同时该连接组件能够实现近端的主控制组件和远端的执行组件之间的传动连接，保证远端的执行组件在近端的主控制组件的控制下执行相应的动作。可以理解的，本申请提供的连接组件不仅能够应用于微创手术器械，还能够应用在其它任何刚性件对接且内部含有柔性件传动连接的结构上。以下仅以连接组件在微创手术器械中的应用为例进行说明，可以理解的，以下各实施例中记述的连接组件只要做出适应性变形即可应用于其他的应用场景。
如图1所示，本申请一实施例提供一种微创手术器械，包括主控制组件10、执行组件20以及连接组件40，连接组件40设置于主控制组件10以及执行组件20之间。
在一个实施例中，如图1所示，主控制组件10包括控制手柄110、手腕附接组件120和框架130，手腕附接组件120分别与框架130的一端以及控制手柄110连接。
在一个实施例中，如图2所示，控制手柄110包括拨轮结构111和基体结构112。拨轮结构111与基体结构112连接，基体结构112相对拨轮结构111能够无限制转动。使用时，基体结构112为握持部位，基体结构112弯曲成弧形，以贴合人体握持的姿势。
具体地，如图2-3所示，拨轮结构111包括拨轮壳体1111、线缆转接件及线缆，拨轮壳体1111一端开设有进线孔、另一端与基体结构转动连接，线缆转接件能够在拨轮壳体1111内移动，线缆从进线孔进入拨轮壳体1111，并通过线缆转接件转接，再与基体结构112连接，线缆转接件在连接线缆的同时，还能使连接于线缆连接件的前后线缆之间可沿轴向相对转动。
具体地，线缆转接件包括滑动件1112和转动件1113，拨轮壳体1111内沿其长度方向形成容置腔，滑动件1112滑动设置在容置腔内，转动件1113与滑动件1112转动连接，线缆包括第一线缆及第二线缆，第一线缆穿过进线孔与滑动件1112连接，第二线缆的一端与转动件1113连接、另一端与基体结构112连接。基体结构112转动时，第二线缆带动转动件1113相对滑动件1112转动，而与控制手柄110外的执行组件20连接的第一线缆不会跟随基体结构112转动，避免了线缆出现内部缠绕的情况，实现了基体结构112相对拨轮结构111无限制转动的效果。
可选地，滑动件1112可在容置腔内平移，使第一线缆位于控制手柄110外的部分的长度发生变化，以实现第一线缆调控控制手柄110外的执行组件20的效果。对于滑动件1112来说，只需要满足其能够在容置腔内平移即可，因此，其不局限于某一形状结构，例如，在一些近似的实施例中，滑动件1112为圆盘或条状物。圆盘或条状物的体积小于容置腔的容积，圆盘或条状物可在容置腔内移动。
在一些实施例中，滑动件1112呈杆状，其一端与第一线缆连接、另一端与转动件1113活动连接。转动件1113呈杆状，转动件1113的一端与滑动件1112活动连接、另一端与第二线缆连接。
在本实施例中，滑动件1112包括呈筒状的滑动部、安装于滑动部相对进线孔的一端的前固定件及安装于滑动部的另一端的后固定件，滑动部的外壁与容置腔的内壁滑动接触，转动件1113内置于滑动件1112并与后固定件转动连接。后固定件呈环形，第二线缆穿过后固定件并与转动件1113连接。
在本实施例中，如图2所示，滑动件1112成圆筒状，滑动件1112长度小于容置腔的长度，滑动件1112的外壁形状与容置腔的内壁相匹配，使滑动件1112在容置腔内仅能平移，避免使用时，滑动件1112发生晃动，与容置腔的内壁发生磕碰，减少使用寿命。本申请的设备属于精密设备，其对精度的要求很高，而圆筒式滑动可提高滑动的稳定性，其与内置式的转动件1113配合，一方面可保证滑动件1112具有一定的长度，可保证滑动的稳定性，同时避免了转动件1113占用空间，利于缩小整个设备空间占有率。当然，在其他实施例中，也可以采用其他方式实现滑动件1112与容置腔的内壁之间的滑动。
进一步地，滑动件1112的前固定件上开设有弧形通孔，第一线缆的一端伸入弧形通孔内，与滑动件1112固定，为方便第一线缆在滑动件1112上固定，
在本实施例中，如图2所示，转动件1113为轴承，具有第一转动部及第二转动部，第一转动部与第二转动部转动连接，第一转动部固定安装于滑动件远离进线口的一端，第二转动部与第一线缆的一端固定。
进一步地，如图3所示，拨轮结构111还包括系线销1115，系线销1115与转动件1113相对基体结构112可活动地部分固定，第二线缆的一端系在系线销1115上，由此实现第二线缆相对基体结构112可转动的效果，如此也能方便第二线缆在转动件1113上固定。
进一步地，如图3所示，拨轮结构111还包括推力轴承1114，推力轴承1114嵌设在拨轮壳体1111内壁上，基体结构112与推力轴承1114连接，基体结构112和拨轮壳体1111通过推力轴承1114转动连接。如此，可以方便基体结构112与拨轮壳体1111之间的顺滑转动。
进一步地，如图3所示，拨轮结构111还包括进线接头1116，拨轮壳体1111的内壁凸起，形成一绕线轴1111a，进线接头1116嵌设在拨轮壳体1111的内壁上，进线接头1116的一端位于拨轮壳体1111的外部，进线接头1116的另一端位于拨轮壳体1111内。如此，可以方便线缆进入拨轮结构111内。第一线缆通过进线接头1116进入拨轮壳体1111内，绕经绕线轴1111a，固定在基体结构112上。
对于基体结构112来说，只需要满足其与拨轮壳体1111之间能活动连接即可，所以针对“无限制滚转”的技术问题，不需要对基体结构112的结构进行特别限制，可理解的，基体结构112为本领域常用的结构。
本实施例中，基体结构112作为握持部位，基体结构112弯曲成弧形以贴合握持的手型，更加符合人体工学。
具体地，如图4所示，基体结构112包括手柄壳体1121、驱动件1122、位移件1124及限制件1125。手柄壳体1121与拨轮壳体1111转动连接，位移件1124内置于手柄壳体1121并与手柄壳体1121的内壁转动连接，第二线缆远离拨轮结构111的一端与位移件1124连接，驱动件1122的一端与位移件1124连接、另一端穿过手柄壳体1121并用于驱动位移件1124相对手柄壳体1121转动设定转动角度，限制件1125与位移件1124抵接并可控制地限制位移件1124单向转动。
第二线缆进入基体结构112的一端缠绕在位移件1124上，驱动件1122驱动位移件1124转动，使第二线缆收短，拉动滑动件1112在容置腔内平移，使线缆位于无限制滚转手柄结构外的部分的长度缩短，起到调控被控单元的效果，限制件1125限制位移件1124单向转动，使位移件1124维持当前转动状态，从而实现位移件1124的自动锁紧，不再需要时刻控制转动件转动状态(例如停止操作驱动件)，大幅度提升使用过程中的体验。
本实施例中，手柄壳体1121与推力轴承1114连接以实现手柄壳体1121与拨轮壳体1111转动连接，
对于驱动件1122来说，只需要满足能操作其驱动位移件1124转动即可。在一些实施例中，驱动件1122包括连杆及转轮，连杆的一端与位移件1124同轴连接，另一端与转轮同轴连接，当转动转轮时，位移件1124也转动，使第二线缆收短。
在本实施例中，如图7所示，驱动件1122包括把手221和弧形连杆222。把手221的一端与手柄壳体1121铰接、另一端形成有驱动侧和连接侧，驱动侧至少部分穿出于手柄壳体1121，连接侧至少部分延伸至手柄壳体1121内并与弧形连杆222的一端铰接，弧形连杆222的另一端与位移件1124铰接。如此，方便使用者进行单手操作。
对于位移件1124来说，只需要满足能操作其能缠绕第二线缆即可。
进一步地，位移件1124上开设有装配槽242，装配槽242的底面开设有弧形通孔245，装配槽242的底面凸起形成转动轴246，把手221靠近位移件1124的一面上开设有容置槽2211，位移件1124部分伸入容置槽2211内，弧形连杆222设置在装配槽242内，弧形连杆222的一端套设在转动轴246上，弧形通孔245以转动轴246为圆心，容置槽2211的侧壁之间设有连接杆1124e，连接杆1124e穿设于弧形通孔245及弧形连杆222的另一端。如此，能够缩减位移件1124与把手221的配合空间，节省基体结构112的内部空间，使得基体结构112不至于体积过大，方便握持。
当捏动把手221的另一端时，把手221相对手柄壳体1121转动，连接杆1124e沿弧形通孔245移动，弧形连杆222推动位移件1124转动。而从体积上看，由于棘轮部分伸入容置槽2211内，位移件1124与把手221的配合空间减小，有效地节省了基体结构112的内部空间。
为方便第二线缆固定在位移件1124上，位移件1124的表面沿轴向延伸形成凸台241，沿凸台241的周向设置有绕线轨道，进入基体结构112的第二线缆绕设在绕线轨道上。
本实施例中，位移件1124呈圆盘状，且其外周面沿其周向设有控制轨道，限制件1125抵接于控制轨道并可控制地限制位移件1124单向转动。
在一些实施例中，如图6所示，控制轨道为凸点轨道243，凸点轨道包括沿转动件外周 面周向布置的弧形滑道及沿弧形滑道均匀布置的多个凸起或多个凹槽。
进一步地，如图2-4所示，限制件1125包括限制部、弹性部及控制部1125a，限制部的一端铰接手柄壳体1121的内壁，弹性部的一端与限制部连接并产生弹力以驱动限制部正向转动至其另一端抵接于凸轮轨道上相邻两个凸起之间或凹槽内，控制部1125a的一端与限制部连接、另一端突出于手柄壳体1121并用于驱动限制部反向转动至其另一端脱离转动件。可选地，弹性部为扭簧。
对于控制部1125a，其只需要使限制部与位移件1124脱离接触即可。在一些实施例中，控制部1125a为绳索，绳索的一端与限制部与位移件1124接触的一端连接，当需要解除对位移件1124的限制时，拉动绳索，使限制部与位移件1124接触的一端移动，与位移件1124脱离接触，由此实现解除对位移件1124的限制。
如图5-7所示，控制部1125a包括轮盘231和传动件232，轮盘231转动设置在手柄壳体1121上，并与传动件232的一端连接，传动件232的另一端与限制部连接，传动件232用于将轮盘231的转动量转换成推动限制部相对手柄壳体1121摆动的力量。使限制部在与位移件1124抵接或不抵接两种状态切换。
进一步地，如图5-7所示，传动件232包括转动杆2321和拨杆2322，转动杆2321的一端与轮盘231固定，转动杆2321的另一端表面部分凸起，形成凸轮2323，拨杆2322的中部与手柄壳体1121铰接，拨杆2322的一端与凸轮2323抵接、另一端与限制部抵接，当轮盘231转动时，带动凸轮2323转动，并使拨杆2322摆动以拨动限制部，达到的效果是在位移件1124锁紧的任意位置都能使限制部与位移件1124脱离接触，将位移件1124释放。
在另一些实施例中，如图6所示，控制轨道包括并列设置的凸点轨道243和平滑轨道244，凸点轨道243包括包括沿转动件外周面周向布置的弧形滑道及沿弧形滑道均匀布置的多个凸起或多个凹槽，平滑轨道244为一行程始端突出于凸点轨道243且行程末端与凸点轨道243平滑过渡的曲面滑道，且平滑轨道244由其行程始端至其行程终端逐渐增大，凸点轨道243的宽度由其行程始端至其行程终端逐渐减小。对应的，限制件1125包括限制部和弹性件，限制部的一端铰接于手柄壳体1121的内壁，弹性件的作用端与限制部连接并产生驱动限制部由凸点轨道243向平滑轨道244平移的弹力以及驱动限制部转动至其另一端抵紧于控制轨道的弹力。可选地，弹性部为扭簧。
当限制部到凸点轨道243达结尾处时受到扭簧的推力，使限制部沿销轴211的轴线平移，进入平滑轨道244，释放位移件1124的锁死部分。同时平滑轨道244从开始处到达结尾处会越变越窄，当限制部到达平滑轨道244结尾处时，平滑轨道244结尾处收窄，将限制部挤进凸点轨道243，该结构达到的效果是有助于限制件切换轨道，使限制部与位移件1124锁紧状态到达极限自动后松开。
进一步地，由于驱动件1122仅驱动位移件1124旋转一定角度，凸点轨道243及平滑轨道244不需要环设于棘轮的周向面，凸点轨道243及平滑轨道244对应的弧度与弧形通孔245对应的弧度相等即可。
如图8-10所示，在另一实施例中，位移件1124呈条状，其一端与手柄壳体1121的内壁活动连接，其另一端的端面上设有若干用于卡接的波形齿245，驱动件1122设置在位移件1124上并至少部分穿出于手柄壳体1121。限制件1125包括具有一定弹性的钢片251、固定部252及位移弹簧253。钢片251远离位移件1124的一端与固定部252固定，其朝向位移件1124的一侧面上延伸形成突出部，突出部与波形齿245的形状相近似，突出部与波形齿245在未受力状态下错位。位移弹簧253的一端与固定部252的一端固定，另一端与手柄壳体1121的内壁固定，施加外力时，位移弹簧253在垂直于手柄壳体1121的内壁的方向上伸缩，固定部252的另一端活动穿设于手柄壳体1121，其位于手柄壳体1121外部的端部形成一按钮。
在该上述实施例中，位移件1124靠近限制件1125的一端上延伸形成防倒转抵接件246，防倒转抵接件246与钢片251背离位移件1124的一面抵接。
该上述实施例使用中，当捏动驱动件1122时，驱动件1122与位移件1124抵接的一端推 动位移件1124转动，此时，突出部与波形齿245并未接触，位移件1124可以自由转动，拉动第二线缆。当需要锁紧时，按动按钮，使位移弹簧253压缩，钢片251与位移件1124接触，突出部与波形齿245形成卡接，突出部与波形齿245之间的摩擦力使位移弹簧253保持压缩状态，则达到了锁紧的目的，若波形齿245设置的足够密集，则可以实现第二线缆无级锁紧的效果，当需要进行释放时，则再拨动按钮，破坏突出部与波形齿245之间的摩擦力，钢片251与位移件1124脱离接触，则位移件1124被释放。
如图11-13所示，在另一实施例中，位移件1124包括内环241a、外环242a、抵接弹簧243a及钢柱244a。内环241a与手柄壳体1121的内壁固定，外环242a活动套设在内环241a的外周面上，内环241a的边沿开设有缺口245a，钢柱244a穿设于缺口245a，抵接弹簧243a的周面与外环242a的内环面接触，抵接弹簧243a的一端与缺口245a的内壁固定，另一端与钢柱244a径向固定，外环242a的外周面上设有缠绕第二线缆的轨道，外环242a沿径向延伸形成与驱动件1122抵接的抵接台。
在该上述实施例中，驱动件1122包括固定块221a、连接杆222a及抵接头223a。固定块221a与手柄壳体1121的内壁固定，连接杆222a穿设于固定块221a，且连接杆222a的一端位于手柄壳体1121的外部，连接杆222a位于手柄壳体1121内的一端与抵接头223a固定，抵接头223a与抵接台抵接，连接杆222a位于手柄壳体1121外的一端延伸形成按钮。
在该上述实施例中，限制件1125包括转轮251a、转轮连杆252a、楔形块253a及抬升叉254a。转轮连杆252a穿设于手柄壳体1121，转轮连杆252a位于手柄壳体1121外的一端与转轮251a固定，转轮连杆252a位于手柄壳体1121内的一端与楔形块253a同轴固定，抬升叉254a的一端与手柄壳体1121的内壁固定并与钢柱244a的外周面抵接，抬升叉254a的另一端与楔形块253a的外表面抵接。转轮251a转动带动楔形块253a转动，通过抬升叉254a驱动钢柱244a在竖直方向升降。
该实施例在使用过程中，按压按钮，抵接头223a与抵接台抵接，推动外环242a转动。在摩擦力的作用下，钢柱244a与缺口245a抵紧，由于内环241a是相对手柄壳体1121固定，外环242a则无法进一步转动，实现的效果是收紧部分第二线缆。需要进一步收紧第二线缆时，转动转轮251a，转轮251a转动带动楔形块253a转动，通过抬升叉254a驱动钢柱244a向抵接弹簧243a移动，钢柱244a与缺口245a的内壁脱离抵紧状态。此时，继续按压按钮，外环242a可进一步转动，实现进一步收紧第二线缆。需要释放第二线缆时，松开按钮，并反向转动转轮251a即可。
如图14-16所示，在另一实施例中，驱动件1122包括铰接板221b、驱动杆222b及固定条223b。铰接板221b与手柄壳体1121的内壁铰接，驱动杆222b穿设于铰接板221b，且驱动杆222b的一端位于手柄壳体1121的外部，驱动杆222b位于手柄壳体1121内的一端与固定条223b固定，驱动杆222b位于手柄壳体1121外的一端延伸形成按钮。
在该上述实施例中，位移件1124包括位移钢片241b和杠杆242b。位移钢片241b的一端与固定条223b固定、另一端与限制件1125固定，杠杆242b的一端与位移钢片241b铰接、另一端与第二线缆固定，杠杆242b的中部与手柄壳体1121的内壁铰接。当按动按钮时，位移钢片241b带动杠杆242b的一端移动，杠杆242b与第二线缆固定的一端随之移动，从而实现拉动第二线缆的效果。
在该上述实施例中，限制件1125包括限位块251b和滑头252b。滑头252b与位移钢片241b远离固定条223b的一端固定，反限位块251b上开设有反弹槽253b，滑头252b的侧壁上伸出滑动杆，滑动杆嵌设在反弹槽253b内，并可沿反弹槽253b滑动。
在该上述实施例中，反弹槽253b包括第一滑动段254b、第二滑动段255b、第一连接段256b及第二连接段。第一滑动段254b、第一连接段256b、第二滑动段255b及第二连接段首尾连通，第一滑动段254b与第一连接段256b连接处形成容置滑动杆的第一窄口257b，第二滑动段255b与第二连接段连接处形成容置滑动杆的第二窄口。第一连接段256b的轴线与当滑动杆处于第一窄口257b时滑头252b的轴线平行，第二连接段的轴线与当滑动杆处于第二 窄口时滑头252b的轴线平行。
在该上述实施例使用过程中，当按动按钮时，滑动杆沿第一滑动段253b滑动，并落入第一窄口256b，由于滑动杆收容在第一窄口256b内，此时松开按钮，滑动杆停留在第一窄口256b内。再次按动按钮，由于第一连接段255b的轴线与此时滑头252b的轴线平行，按动按钮时，滑动杆沿受力方向进入第一连接段255b，并沿着第一连接段255b、第二滑动段254b滑动到第二窄口内。此时松开按钮，滑动杆停留在第二窄口内。再次按动按钮，由于第二连接段的轴线与此时滑头252b的轴线平行，按动按钮时，滑动杆沿受力方向进入第二连接段，并沿着第二连接段、第一滑动段253b滑动到第一窄口内，如此往复。最终实现的效果是，按一下按钮，第二线缆收紧，再按一下按钮，第二线缆释放。
本实施例的控制手柄，拨轮结构111与基体结构112相互之间无限制滚动，由此可以实现360度不间断滚转，不再需要转动过程中停下来调整手柄。
在一个实施例中，如图17-19所示，手腕附接组件120包括固定构件121和附接构件122。
其中，固定构件121为环形，可以理解的是，该环形可以是闭合环形，也可以是非闭合环形，例如C形环、U形环，在本实施例中优选为封闭圆环。固定构件121的内侧具有形状为环形球面的第一表面1a，第一表面1a的球心位于第一表面1a的两侧边缘之间。
附接构件122为环形，与上述固定构件121的结构类似，该环形可以是闭合环形，也可以是非闭合环形，例如C形环、U形环，在本实施例中优选为封闭圆环。附接构件122的外侧具有呈环形球面的第二表面2a，第一表面1a的球心与第二表面2a的球心重合且第二表面2a至少部分接触于第一球面1a，第二表面2a的宽度小于第一表面1a的宽度，以使附接构件122能够相对固定构件121自由滚转，附接构件122的滚转中心为第一表面1a的球心。其中，为了有效限制附接构件122的偏转角度，以减少其无效冗余度，第一表面1a的至少一侧边缘连接有阻挡件1212，阻挡件1212的至少部分朝固定构件121的环形内侧空间延伸。其中，该阻挡件1212可以为单独的零件连接在固定构件121的两端开口的边缘处，也可以为固定构件121的一部分。
在某些实施例中，该阻挡件1212可以为连接在第一表面1a的侧边缘的若干挡片，在另一些实施例中，如图20所示，该阻挡件1212可以为连接在第一表面1a的侧边缘的若干螺钉，将螺钉较宽一端的端部作为阻挡件1212。
在本实施例中，第一表面1a的两侧边缘均对应连接有阻挡件1212，且阻挡件1212为连接于第一表面1a的侧边缘的阻挡件1212。
可以理解的是，阻挡件1212的作用是为了限制附接构件122的偏转角度，在第一表面1a的球心位于第一表面1a的两侧边缘之间的情况下，由于球的截面中经过球心的截面面积最大，因而当最大面积位于固定构件121的内侧空间时，只需要第一表面1a的至少一侧边缘连接有阻挡件1212即可对附接构件122偏转角度进行有效限制。
本实施例中，第一表面1a的两侧边缘分别对应连接有阻挡件1212。可选地，阻挡件1212与固定构件121可以为安装连接结构，也可以是一体成型结构，本实施例中为安装连接结构。
第二表面2a的宽度小于第一表面1a的宽度，可以保证附接构件122在固定构件121内可以进行一定角度的俯仰、偏转。
在本申请的所有实施例中，附接构件122能够相对固定构件121自由滚转表示附接构件122能够在不脱离固定构件121的内侧空间的前提下，在任意状态时沿垂直穿过附接构件122的轴线实现无限角度的旋转。
在一些实施例中，第二表面2a即为附接构件122的外表面，即附接构件122的外表面整体呈环状球面。
当附接构件122的外表面整体呈环状球面时，第一表面1a与第二表面2a的滑动配合使附接构件122的俯仰和偏转只能在第一表面1a的两侧边缘和第二表面2a的两侧对应边缘之间进行，因而为了保证附接构件122的俯仰和偏转角度足够，通常附接构件122和固定构件 121的宽度差要足够大，一般不小于20mm，而为了保证使用者使用舒适度，附接构件122与手腕接触的地方也要存在一定宽度，一般不小于20mm，因此就会导致固定构件121过宽，手腕附接组件120整体就会显得过于笨重，不利于使用者的使用。在本实施例中，如图18及图21所示，附接构件122包括环体1221和环形凸缘1222。环形凸缘1222连接于环体1221的外表面，环形凸缘1222的外端面抵接于第一表面1a，环形凸缘1222的外端面形成与第一表面1a相配合的第二表面2a。本实施例中，环形凸缘1222固定同轴连接于环体1221的中部。如此，使附接构件122的俯仰和偏转的第一表面1a与第二表面2a的滑动配合转移至第一表面1a与第二表面2a的中间部位，使得附接构件122和固定构件121不需要较大的宽度差，便于缩小手腕附接组件120的整体体积，使得手腕附接组件120更加轻便。
上述结构的附接构件122其截面类似于T形，即通过减小附接构件122与固定构件121的接触面积而增加了附接构件122的转动角度，同时还能够减小摩擦力使两者间转动更加灵活，另外在不使用腕部套件123的情况下，将附接部件直接套接在腕部使用时，T形的截面也保证了附接构件122与手腕接触部位有一定的宽度，增加了舒适性。在制作时，环形凸缘1222的宽度一般在5mm左右即可，因而在满足俯仰和偏转角度的情况下，固定构件121中第一表面1a的宽度一般可维持在30mm以内，使手腕附接组件120整体不至于过于宽大而显得笨重。
对于固定构件121和附接构件122而言，当固定构件121和附接构件122的任一种为具有一定有弹性形变性能的材料制作时，如塑料件，两者的安装可以通过任意一部件的弹性形变而实现套接。如图21所示，当固定构件121和附接构件122均为刚性材料制作时，可选择在第一表面1a的一侧边缘对称开设有两个弧形槽1b，两个弧形槽1b之间的宽度尺寸大于环形凸缘1222的直径尺寸；安装时，如图21-22所示，将附接构件122的环形凸缘1222对准弧形槽1b放置，通过弧形槽1b将附接构件122插进固定构件121的内侧，当固定构件121的第一表面1a和附接构件122的第二表面2a的球心重合后将内附接构件122翻转90度，即可完成装配。
根据上述方案的描述可知，只使用附接构件122和固定构件121即可以实现手腕与固定构件121之间的一定角度的俯仰、偏转以及无限角度的滚转，但是根据人体工程学可以知道，人体手腕的俯仰角度很小，偏转角度却很大，上述方案手腕的偏转与附接部件的偏转角度一致，受第一表面1a和第二表面2a的宽度限制，该偏转角度一般较小，不太符合人体工程学理念，不足以满足人体手腕偏转的全部需求。因而在本实施例中，如图17所示，该手腕附接组件120还包括腕部套件123，其中，腕部套件123被配置为附接至使用者的手腕，其可转动地安装于附接构件122的内侧，腕部套件123的转动轴线穿过附接构件122的滚转中心。
腕部套件123可转动的安装于附接构件122的内侧，即腕部套件123通过转动副与附接构件122相连，可以有效增加使用者腕部左右偏转的角度。此种设计增加了有效冗余度，更符合人体工程学。
可选地，腕部套件123为C形构件123，更具体的，在本实施例中，C形构件123的安装采用如下方案：C形构件123的外侧的两端形成有两个凸块123a，两个凸块123a形成腕部套件123的转动轴，附接构件122的侧壁分别对应两个凸块123a形成有两个安装孔2b，C形构件123通过凸块123a与安装孔2b的卡接可拆卸的转动连接于附接构件122的内侧。
当使用者使用该手腕附接组件120时，将手腕伸入C形构件123内侧的空间中，使手腕的上下两侧卡接于C形构件123的两个端部，这样手腕在进行俯仰、偏转或者翻转时，附接构件122和腕部套件123都能准确的适应手腕，以便于使用者的工作。
在另一个实施例中，如图23所示，一种手腕附接组件120，其包括固定构件121、附接构件122和腕部套件123。
其中，固定构件121为环形，可以理解的是，该环形可以是闭合环形，也可以是非闭合环形，例如C形环、U形环，其中非闭合环形也可以是部分交错重叠的环形，例如螺旋环状。 附接构件122与固定构件121可拆卸连接。
其中，如图23-25、图31-32所示，作为本申请一种可行的实施例，附接构件122为一体成型的闭合环形，附接构件122通过磁性连接与固定构件121实现可拆卸的连接，具体的，附接构件122采用磁性材料，如铁质材料制成，在固定构件121上安装有电磁铁，当电磁铁通电时，电磁铁产生磁性，磁性吸附套圈，使附接构件122连接在固定构件121的内侧，当电磁铁断电时，磁性消失，附接构件122可从固定构件121的内侧取下。当然，在其他实施例中，也可以为固定构件采用磁性材料制成，在套圈上安装有电磁铁。在另一些可行的实施例中，附接构件122通过魔术贴粘贴在固定构件121的内侧，通过魔术贴的粘贴或撕下来实现附接构件122与固定构件121的连接配合。
对于附接构件122来说，只需要满足其能够可拆卸的安装在固定构件121的内侧即可，因此，其不局限于采用一体成型的闭合环形结构，例如，在一些实施例中，如图27-28所示，附接构件122包括弧形单元环1226和调节件1227，弧形单元环1226和调节件1227围合形成闭合环形圈A，调节件1227驱使闭合环形圈A弹性卡接于固定构件121内侧。
由图27-28可以明显看出，弧形单元环1226和调节件1227间隔交错设置，且该调节件1227为弹性元件，更确切的，其为压缩弹簧1227，当将附接构件122放入固定构件121时，压缩弹簧1227伸张，弹性驱使闭合环形圈A沿径向扩展，以使弧形单元环1226抵接于固定构件121内侧，当弧形单元环1226和调节件1227的数目为图中所示的两个时，即构成了：每一弧形单元环1226的两端与另一弧形单元环1226的两端对应设置，调节件1227安装于每一弧形单元环1226的端部和对应的另一弧形单元环1226的端部之间，以驱动两个弧形单元环1226沿其径向向彼此远离的方向运动，进而抵接在固定构件121的内侧。当需要取下附接构件122时，挤压两个弧形单元环1226，使压缩弹簧1227收缩变短即可。
可以理解的是，弧形单元环1226和调节件1227的数目可以根据实际情况确定，当其为一个时，即为一呈环状角度略小于360度的C形环，调节件1227安装于在C形环的两端之间，用于将C形环抵紧在固定构件121内侧即可。
在另一些相近的实施例中，如图29-30所示，附接构件122包括两个弧形单元环1226和两个调节件1227。调节件1227为与弧形单元环1226的半径相同的弧形连接件1227，两个调节件1227和两个弧形单元环1226围合形成闭合环形圈A，两个弧形单元环1226的一端铰接，另一端与一弧形连接件1227铰接，弧形连接件1227远离对应的弧形单元环1226的一端相互铰接。
继续参考图7-8，该实施例中附接构件122在未与固定构件121连接时，两个弧形连接件1227分别通过第一连接销1223和第三连接销1225对应安装于对应的弧形单元环1226的端部，两个弧形连接件1227远离弧形单元环1226的端部铰接于第二连接销1224，当两个弧形连接件1227的铰接处向内弯折时，两个弧形单元环1226和两个弧形连接件1227所形成的闭合环形圈A向内坍缩，附接构件122整体能够放进固定构件121内，将手腕放进弧形单元环1226之后，通过手部向外侧推动第二连接销1224位置处，此时两个弧形连接件1227分别按顺时针和逆时针两个方向旋转，使两个弧形连接件1227将两个弧形单元环1226撑开，直到形成圆环，需要注意的是，在该过程中当第一连接销1223、第二连接销1224和第三连接销1225在一条直线上时，会存在一定的弹力，该弹力是由零件本身变形造成的，此时需要继续挤压以越过该变形，然后附接构件122便不能够自主越过该变形恢复原状，也就将套圈张紧在固定构件121的内部了。
腕部套件123连接于附接构件122内侧，并被配置成附接至使用者的前臂或手腕。具体地，如图24所示，腕部套件123包括夹紧件1231和驱动件1232，夹紧件1231安装于附接构件122内侧，用于夹持于使用者的前臂或手腕，驱动件1232与夹紧件1231驱动连接，用于保持夹紧件1231与使用者的前臂或手腕的夹紧。
可选地，如图23-24所示，夹紧件1231包括至少两个安装于附接构件122内侧的夹臂1231a，夹臂1231a之间形成有容置使用者的前臂或手腕的容置空间b，驱动件1232与夹臂 1231a连接，用于驱使夹臂1231a向缩小容置空间b的方向运动。
在本实施例中，夹臂1231a的个数为两个，驱动件1232为扭簧1232，两个夹臂1231a之间铰接，扭簧1232安装于夹臂1231a的铰接处，扭簧1232驱使夹臂1231a之间相互靠近，为了保证舒适度，夹臂1231a为弧形结构，两个夹臂1231a的开口相对设置，两个开口之间围合形成的洞即为容置空间b，夹臂1231a的两端均弹性抵接于附接构件122内侧，其中，为了使夹紧件1231能够顺畅的在附接构件122内滚转，附接构件122的内侧面为球面，夹臂1231a的两端均安装有万向滚珠1233，万向滚珠1233与附接构件122的内侧壁滚动抵接。
当使用者要将前臂或手腕与附接构件122装备时，只需要将五只手指并拢，向洞里伸，克服扭簧1232的力便能够撑开两个夹臂1231a形成的容置空间b，将前臂或手腕放入后，扭簧1232向原有状态恢复并驱使两个夹臂1231a将使用者的前臂或手腕抱住。
在其他实施例中，腕部套件123被配置为如图26所示，即驱动件1232为扭簧1232，夹臂1231a为一弯曲杆件，夹臂1231a的一端与附接构件122铰接，扭簧1232安装于夹臂1231a与附接构件122的铰接处，扭簧1232驱使夹臂1231a的另一端向附接构件122内侧转动，以夹紧使用者的前臂或手腕，图中夹臂的数目为两个，在实际使用时，使用者可以根据身体舒适度配置夹臂数目，甚至可以根据手腕形状，确定夹臂1231a的弯曲角度和扭簧的弹性力度。
在另一些实施例中，腕部套件123被配置为如图27-28所示，即驱动件1232为弹簧1232，夹臂1231a围合形成环形，弹簧1232安装于夹臂1231a和附接构件122的内侧之间，以驱使夹臂1231a向附接构件122中部运动。具体地，夹臂1231a的数目为两个，弹簧1232安装在夹臂1231a的端部和附接构件122之间，且每一个夹臂1231a的两个端部都安装有弹簧1232，所有的弹簧1232平行设置，以保证夹臂1231a的运动稳定性。当使用者想要将手腕与腕部套件123附接时，只需要将五只手指并拢，向两个夹臂1231a围成的环形孔伸，克服的弹簧1232的弹力便能够撑开两个该洞口，将手腕放进洞里以后，弹簧1232恢复原有状态并将手腕抱住。
上述实施例提供了夹紧件1231采用两个甚至多个夹臂1231a来夹紧的方式，在实际使用中，如图29-32所示，还可以为夹紧件1231包括由弹性材料制成的U形件1231，U形件1231的一侧开口，其开口的内部即为用于容置使用者的手腕或前臂的容置空间b，驱动件1232连接于U形件1231的至少一个端部，用于驱使U形件1231发生弹性形变，以改变容置空间b的大小。
例如图29-30所示，驱动件1232为一伸缩阀1232，伸缩阀1232安装于附接构件122的内侧，伸缩阀1232的伸缩端与U形件1231的一端抵接，U形件1231的的另一端与套圈抵接，当伸缩阀1232的伸缩端伸缩时，U形件1231的内部的容置空间的大小发生变化。在使用时，使用者将前臂或手腕伸入U形件1231的开口内侧，然后旋转伸缩阀1232，伸缩阀伸长，使U形件1231的开口变小，进而缩小了其内的容置空间b，U形件1231的侧壁卡紧使用者的前臂或手腕。
在某些实施例中，固定组件被配置为如图31-32所示，驱动件1232包括沿附接构件122的内侧周向延伸并连接于附接构件122的内侧的两个曲线滑道1232a和对应连接于U形件1231的外侧两端的锥形的滑块1232b，曲线滑道1232a的一端相对于另一端逐渐靠近附接构件122的中部，即曲线滑道1232a沿其长度方向上在附接构件122内有一定的高度差，且两个曲线滑道1232a相对设置，两个锥形滑块1232b与两个曲线滑道1232a对应滑动配合设置，当滑块1232b沿曲线滑道1232a滑动时，U形件1231内部的容置空间b的大小发生变化。
具体的，如图32所示，曲线滑道1232a具有近端1232c和远端1232d，沿曲线滑道1232a的长度方向，其远端1232d相对于近端1232c逐渐远离附接构件122的内侧壁，即远端1232d距离附接构件122的内侧的距离大于近端1232c距离附接构件122的内侧的距离。具体地，当滑块1232b位于对应的曲线滑道1232a的近端1232c时，U形件1231的开口较大，使用者可以将前臂或手腕伸入U形件1231的开口内，然后旋转U形件1231，对应的，滑块1232b在对应的曲线滑道1232a向远端1232d滑动，进而使两个滑块1232b在套圈内沿径向相互靠近，U形件1231的开口逐渐变小，进而卡紧使用者的手腕。
可以理解的是，由弹性材料制成的U形件1231只是对其形状结构的简单概括，本领域技术人员根据实际需求，可以将其设计为C形件或者U形件，均可用于该应用场景中。
在一个实施例中，请参阅图33-35，主控制组件10还包括串联关节140。本申请一实施例提出一种串联运动机构，用于控制手术器械运动，包括上述的控制手柄110、手腕附接组件120及串联关节140。
串联关节140为串联双关节转动机构，包括两个关节，且所述两个关节的转动轴轴线垂直，控制手柄110通过串联关节140与手腕附接组件120连接，用于将控制手柄110的运动状态分解，转换成串联关节140的关节运动，以作为控制源使用。即，通过对控制手柄110施加外力，以附接于手腕的手腕附接组件120为支点，使得串联关节140的两关节转动，从而利用线缆N或其他传动物，将串联关节140的关节转动转换为手术器械的运动。
具体的，如图33-34所示，串联关节140包括偏转组件141及俯仰组件142，偏转组件141通过俯仰组件142与控制手柄110转动连接，以形成俯仰转动关节，偏转组件141还与手腕附接组件120转动连接，形成偏转转动关节，俯仰转动关节与偏转转动关节的转动轴线垂直。
在本实施例中，偏转组件141的转动轴线垂直于水平面，俯仰组件142的转动轴线平行于水平面，在手臂穿过手腕附接组件120并握持住控制手柄110后，通过手腕对控制手柄110施加平行于水平面的外力，可通过控制手柄110带动偏转组件141相对手腕附接组件120在平行于水平面的方向上偏转。而通过手腕对控制手柄110施加垂直于水平面的外力，则可利用控制手柄110带动俯仰组件142相对偏转组件141在垂直于水平面的方向上转动。
可以理解，可通过手腕同时对控制手柄110施加平行于水平面及垂直于水平面的力，也可以单独对控制手柄110施加垂直于水平面的力或平行于水平面的力，以使控制手柄110带动偏转组件141在平行于水平面的方向上相对手腕附接组件120转动和/或俯仰组件142在垂直于水平面的方向上相对偏转组件141转动。通过手腕对控制手柄110施力，即以手臂为杠杆，以手臂与手腕附接组件120为支点，以撬动握持的控制手柄110。
利用线缆N将手术器械连接于偏转组件141及俯仰组件142上，以使手臂穿过手腕附接组件120握持控制手柄110后，且对控制手柄110施加外力时，通过线缆N将对控制手柄110施加的外力传递至手术器械上，以达到利用手腕的运动控制手术器械偏转的效果。
在一个实施例中，如图36-37所示，偏转组件141包括牵引架1411，牵引架1411上开设有转动槽1412及滑动槽1413，手腕附接组件120与转动槽1412转动插接，俯仰组件142与滑动槽1413活动连接，可在滑动槽1413内滑动，且可相对牵引架1411转动。
具体的，由于通过手腕的转动对控制手柄110施力，从而使俯仰组件142相对牵引架1411转动时，手腕运动的轨迹并不是一条垂直于水平面的直线，而是呈弧形。即，手腕对控制手柄110施加的力传递到至俯仰组件142上时，可分解为垂直于水平面方向的力F1/F1a及平行于水平面方向的力F2/F2a。其中，垂直于水平面方向的力F1/F1a带动俯仰组件142相对牵引架1411在垂直于水平面的方向上转动，平行于水平面方向的力F2/F2a则带动俯仰组件142在平行于水平面的方向上移动。通过设置滑动槽1413，可对俯仰组件142在平行于水平面方向上的移动进行补偿，即俯仰组件142可在滑动槽1413内移动，从而避免俯仰组件142在转动时由于缺少平行于水平面方向上的移动补偿而造成的卡顿。
可以理解，在部分实施例中，也可以将俯仰组件142的中心设置在施力手臂轴线上，从而使俯仰组件142只受到转动的外力，也即，俯仰组件142的中心与施力手臂轴线在垂直于水平面方向的高度差H为0。此时，即使手腕握持控制手柄110做弧线运动，由于俯仰组件142的中心与弧线的圆心共线，所以俯仰组件142的中心到弧线上的任意一点距离都相等，从而只需将俯仰组件142与牵引架1411转动连接即可，无需在牵引架1411上设置滑动槽1413。
进一步地，在本实施例中，滑动槽1413的数量为两个，设置于牵引架1411的两侧。可 以理解，在部分实施例中，滑动槽1413也可以至设置1个，只要能够通过滑动槽1413实现俯仰组件142在平行于水平面方向上受力后的位移补偿即可。可以理解，滑动槽1413的形状可以是矩形，也可以是弧形，只要俯仰组件142能够在滑动槽1413内移动即可。
请参阅图38-39，偏转组件141还包括偏转轮1414、张紧轮1415及连接片1416。偏转轮1414、张紧轮1415及连接片1416通过螺钉依次连接，且皆设置于转动槽1412内，其中，张紧轮1415位于偏转轮1414及连接片1416之间。偏转轮1414上开设有偏转线槽1417，偏转线槽1417环设于偏转轮1414的四周，张紧轮1415上开设有第一通孔1418，连接片1416上开设有第二通孔1419，第一通孔1418及第二通孔1419的数量皆为两个。第一通孔1418位于张紧轮1415的两侧，第二通孔1419位于连接片1416的相对两侧，且第一通孔1418与第二通孔1419同心。
线缆N经过偏转线槽1417后，穿过两个第一通孔1418及第二通孔1419，并连接于连接片1416上，当偏转轮1414发生偏转时，连接片1416跟随偏转轮1414一同转动，且带动连接于连接片1416上的线缆N运动。
可以理解，线缆N分别穿过位于连接片1416两侧的两个第二通孔1419，即连接片1416带动线缆N运动即为通过连接片1416的摆动拉扯位于连接片两侧的线缆N，导致一侧的线缆N为张紧侧N1，即处于张紧状态，而另一侧的线缆N处于放松侧N2，即处于放松状态。其中，处于张紧侧N1的线缆N向偏转线槽1417上缠绕，而处于松弛侧N2的线缆N则从偏转线槽1417内脱离，利用两侧线缆N一侧缠绕收缩，一侧脱离延伸的效果，实现牵动手术器械向线缆N张紧侧偏移的效果。
可以理解，通过调节张紧轮1415与偏转轮1414之间的距离L，可适配不同长度的线缆N。
请参阅图37、40-43，俯仰组件142包括连接架1421、俯仰轮1422、走线件1423及连接轴1424。俯仰轮1422与走线件1423之间通过连接轴1424连接。其中，俯仰轮1422位于滑动槽1413内，走线件1423与连接架1421固定连接，通过手腕的运动对控制手柄110施力后，控制手柄110件受到的外力通过连接架1421传递至俯仰轮1422上，以使俯仰轮1422相对牵引架1411转动及在滑动槽1413内移动。
可以理解，俯仰轮1422的转动也是通过形成一侧线缆N松弛，另一侧线缆N张紧，以形成俯仰轮1422两侧的线缆N一收缩一延伸的状态，从而带动手术器械在垂直于水平面的方向上摆动。
进一步地，俯仰轮1422上开设有俯仰线槽1428，俯仰线槽1428环设于俯仰轮1422的四周，通过将线缆N嵌设于俯仰线槽1428内，以实现将线缆N连接于俯仰轮1422上。
进一步地，如图40所示，俯仰组件142还包括滑块1425，滑块1425与走线件1423连接，且位于滑动槽1413外，并与牵引架1411接触，当俯仰轮1422在滑动槽1413内移动时，滑块1425跟随俯仰轮1422一同在牵引架1411上滑动。
进一步地，如图40所示，俯仰组件142还包括滑动轴承1426，滑动轴承1426套设于连接轴1424上，且与滑动槽1413的侧壁接触，当俯仰轮1422在滑动槽1413内移动时，滑动轴承1426在滑动槽1413的侧壁上滚动。
可以理解，通过设置滑块1425及滑动轴承1426，可对俯仰组件142起到支撑的作用，避免俯仰轮1422上的线缆N与滑动槽1413的内壁接触产生摩擦。
进一步地，走线件1423上开设有走线孔1427，线缆N从走线孔1427上穿过后再与俯仰轮1422连接，以通过走线孔1427与俯仰轮1422之间的距离，对线缆N进行张紧。
可以理解，控制手柄110可以是手柄、指套等用于控制手术器械运动的装置，在本实施例中，手术器械为夹钳，通过手柄控制夹钳的夹紧和放松。
可以理解，控制手柄110控制手术器械运动的方式可以是通过钢丝绳牵引，也可以是通过设置如电机、气缸等驱动装置配合相应的控制电路实现，只要能够通过控制手柄110控制手术器械运动即可。
在一个实施例中，如图44所示，偏转组件141的两端可以直接分别与手腕附接组件120 转动连接及通过俯仰组件142与控制手柄110形成转动连接，且偏转组件141与手腕附接组件120形成转动连接的轴线与通过俯仰组件142与控制手柄110形成转动连接的轴线相互垂直。其中，偏转组件141通过俯仰组件142与控制手柄110之间形成的转动连接即形成俯仰转动关节，而偏转组件141与手腕附接组件120之间的转动连接即形成偏转转动关节。
可以理解，当偏转组件141通过俯仰组件142与控制手柄110形成转动连接的转动点位于手腕附接组件120的轴线上时，偏转组件141可以直接与控制手柄110转动连接。此时，将实现偏转组件141与控制手柄110转动连接的部件理解为俯仰组件142，如轴孔转动配合的转动轴、设置于偏转组件141与控制手柄110之间的轴承、铰链等，偏转组件141通过俯仰组件142与控制手柄110之间形成俯仰转动关节。
而当偏转组件141通过俯仰组件142与控制手柄110形成转动连接的转动点未位于手腕附接组件120的轴线上时，由于操作控制手柄110时的运动路径为球面，所以需要在偏转组件141上设置位移补偿的滑动槽1413，如图44所示。
可以理解，在本实施例中，偏转组件141通过俯仰组件142与控制手柄110形成俯仰转动关节的转动轴线平行于水平面，而偏转组件141与手腕附接组件120形成的偏转转动关节的转动轴线垂直于水平面。在其他实施例中，通过调整偏转组件141或俯仰组件142的结构，也可以使得偏转组件141通过俯仰组件142与控制手柄110形成转动关节的转动轴线垂直于水平面，而偏转组件141与手腕附接组件120形成转动关节的转动轴线平行于水平面。
在一个实施例中，如图45所示，手腕附接组件120上开设有过线槽1213，过线槽1213环设于手腕附接组件120的外壁上。线缆N与偏转组件141连接后，其经过手腕附接组件120的部分收纳于过线槽1213内。可以理解，当偏转组件141发生偏转，从而通过线缆N牵动手术器械时，线缆N在过线槽1213内滑动。
进一步地，固定构件121与牵引架1411转动连接，过线槽1213环设于固定构件121的外壁上，附接构件122嵌设于固定构件121的内壁上。
进一步地，固定构件121与牵引架4111转动连接的一端外壁上设置有转轴1214，转轴1214上套设有转动轴承1215，转动轴承1215设置于牵引架411上且与牵引架411连接，以通过转轴1214与转动轴承1215之间的相对转动实现手腕附接组件120与串联关节140之间的转动连接。
通过设置线缆N，使串联运动机构与手术器械之间形成联动，以使医护人员对控制手柄110施力时，利用线缆N带动手术器械运动，从而实现只需腕部发力，即可操作手术器械转动方向，减轻医护人员的工作负担。
具体的，框架130的一端设置有与手术器械连接的连接部131，手术器械的一端可通过连接部131与框架130的实现连接，手腕附接组件120与框架130远离连接部131的一侧固定连接。
可以理解，连接部131可以是卡扣、凹槽、磁吸件等任意部件，只要手术器械能够通过连接部131与框架130实现连接即可。
在本实施例中，线缆N分别连接手术器械远离框架130一端，平行于水平面的两侧及垂直于水平面的两侧。其中，连接于手术器械平行于水平面两侧的线缆N皆与偏转组件141连接，而连接于手术器械垂直于水平面两侧的线缆N皆与俯仰组件142连接。在手臂穿过手腕附接组件120并握持控制手柄110后，沿水平面方向偏转手腕时，以手臂为杠杆，以手臂与手腕附接组件120接触点为支点，通过控制手柄110带动串联关节140一同偏转，从而使得串联关节140相对手腕附接组件120转动，也即使串联关节140上的偏转组件141发生偏转。由于偏转组件141与手术器械远离框架130的一端之间连接有线缆N，且手术器械的一端与框架130的连接部131连接，从而在偏转组件141发生偏转时，利用线缆N带动手术器械在平行于水平面的方向上偏转。
而在沿垂直于水平面方向移动手腕时，同样以手臂与手腕附接组件120的接触点为支点，通过控制手柄110带动连接架1421上的俯仰组件142相对牵引架1411转动，从而利用线缆 N带动手术器械在垂直于水平面的方向上偏转。
可以理解，线缆N为刚性绳，且连接于手术器械、偏转组件141及俯仰组件142上时，线缆N处于张紧状态，在本实施例中，线缆N为钢丝绳。
可以理解，线缆N与俯仰组件142连接的方式为缠绕在俯仰组件142上，在俯仰组件142相对牵引架1411转动时，通过线缆N与俯仰组件142之间的摩擦力，带动线缆N对手术器械施力。
可以理解，在本实施例中，手术器械可以是夹钳、针管、刀具等，其执行端设置有可活动的关节，通过一刚性细长杆与框架130连接，以在线缆N对手术器械施加牵引的外力时，以刚性细长杆与框架连接处为支点，利用可活动的关节移动手术器械。
在一个实施例中，如图48-49所示，框架130包括走线架132及束壳133。连接部131设置于走线架132的一端，束壳133连接于走线架132远离设置连接部131的一端，且走线架132通过束壳133与手腕附接组件120连接。走线架132内部中空，线缆N与手术器械连接后，从走线架132靠近连接部131的一端延伸至束壳133内，并从束壳133内穿出，以与偏转组件141及俯仰组件142连接。
具体的，束壳133上开设有过线孔1331，线缆N延伸至束壳133后，连接俯仰组件142与手术器械的线缆N从过线孔1331处穿出束壳133，以实现与俯仰组件142连接。
进一步地，走线孔1427及过线孔1331皆为沉头孔，且走线孔1427与过线孔1331之间设置有弹簧套(图未示)，弹簧套的两端分别插接于走线孔1427及过线孔1331内,线缆N从过线孔1331内穿出后，再穿过弹簧套进入走线孔1427内。
可以理解，弹簧套的作用为，在俯仰轮1422在滑动槽1413内滑动时，对线缆N提供弹力，以防止线缆N松弛。
可以理解，手腕附接组件120与束壳133连接后，束壳133并未封闭过线槽1213，从而使得线缆N能够从束壳133进入过线槽1213内。
进一步地，走线架132内设置有多个导向轮1321，线缆N从连接部131进入走线架132后，通过多个导向轮1321对其进行导向，以帮助线缆N从连接部131延伸至束壳133内过程中的转向，且使线缆N保持张紧。
可以理解，导向轮1321设置于走线架132内的位置可根据走线架132的形状进行调整，只要能够帮助线缆N在走线架132内转向，且使线缆N保持张紧即可。
可以理解，在部分实施例中，导向轮1321可以省略，直接利用走线架132的内壁也可实现对线缆N进行转向及张紧。
进一步地，走线架132内还设置有转向轮1322，转向轮1322设置于走线架132远离束壳133的一端，线缆N通过转向轮1322后，从过线孔1331穿出束壳133，以与俯仰组件142连接。
可以理解，执行组件20为多个活动关节组成，其可以是铰链、杠杆的形式，只要通过线缆与串联运动机构能够带动执行组件20在平行于水平面及垂直于水平面的方向上偏转运动即可。
本申请提供的串联运动机构的使用原理为：首先，将线缆分别连接于执行组件20远离框架130的一端平行于水平面的相对两侧及垂直于水平面的相对两侧，且将平行于水平面相对两侧的线缆与偏转组件141连接，将垂直于水平面的相对两侧的线缆与俯仰组件142连接，从而通过线缆将执行组件20、俯仰组件142及偏转组件141连接在一起。然后，将手臂穿过手腕附接组件120，并握持控制手柄110，当需要使手术器械在平行于水平面方向上左右偏转时，只需左右扭动手腕，从而以手臂与手腕附接组件120接触点为支点，通过控制手柄110带动连接架1421及牵引架1411相对手腕附接组件120转动，也即位于牵引架1411上的偏转组件141转动，从而通过线缆拉扯手术器械左右偏转。当需要使手术器械在垂直于水平面方向上上下偏转时，只需要上下扭动手腕，从而通过控制手柄110带动连接架1421相对牵引架1411转动，也即连接于连接架1421上的俯仰组件142相对牵引架1411转动，从而利用连接 于俯仰组件142上的线缆，拉扯手术器械在垂直于水平面的方向上下偏转。
通过控制手柄110带动串联关节140将控制手柄110的复合运动分解为在平行于水平方向的转动及在垂直于水平面方向的转动，并将该转动运动传递至执行组件20上，从而只需要通过控制手柄110即可实现对执行组件20的操作，减轻手术中经常运动手臂所造成的工作负荷和操作不便的问题。
在一个实施例中，如图50所示，执行组件20为多个活动关节组成，其可以是铰链、杠杆的形式，只要通过线缆N与串联运动机构能够带动执行组件20在平行于水平面及垂直于水平面的方向上偏转运动即可。
在一个实施例中，如图1所示，连接组件40包括主传动机构400和从传动机构500。
具体地，如图51-53所示，主传动机构400包括主传动基体410和主传动件，主传动基体410能够与输出执行动作的主控制组件10固定连接，主传动件设置于主传动基体410，主传动件还能够与主控制组件10传动连接。从传动机构500包括从传动基体510和从传动件，从传动基体510能够与接收执行动作的执行组件20固定连接，从传动件设置于从传动基体510，从传动件还能够与执行组件20传动连接。主传动基体410与从传动基体510可拆卸地配合，主传动基体410与从传动基体510配合时，主传动件与从传动件传动连接。
上述微创手术器械中的连接组件40，连接组件40不仅能够分别与主控制组件10以及执行组件20传动连接，实现主控制组件10和执行组件20之间的传动功能，同时连接组件40中的主传动机构400和从传动机构500之间可拆卸的配合关系还允许主控制组件10和执行组件20之间实现分离。本申请提供的连接组件40不仅允许主控制组件10可以和不同类型的执行组件20配合使用，而且在使用完毕后可以分别对主控制组件10和执行组件20分别进行相应规格的消毒杀菌等处理，有效节省了微创手术器械的消毒成本，以及降低了微创手术器械的消毒难度。
可选的，主传动基体410与主控制组件10之间直接固定连接或者通过中间连接组件40实现固定连接，同理从传动基体510与执行组件20之间固定连接或者通过中间连接组件40实现固定连接。主传动基体410与框架130远离手腕附接组件120的另一端一体成型。
进一步地，如图1和图50所示，微创手术器械还包括空心结构的连接杆30。连接杆30的一端与执行组件20连接，连接杆30的另一端与从传动基体510固定连接，连接杆30的内部允许传动连接执行组件20和从传动件的结构件穿过。本实施例中，该结构件为线缆。连接杆30能够有效增长主控制组件10和执行组件20之间的距离，允许手术医生具有更大的操作空间。使用时，可将连接杆30与框架130通过连接组件40进行连接，使用完毕后能够便捷地将连接杆30与框架130分离，便于后续的消毒或者更换不同类型的执行组件20。主控制组件10、主传动件、从传动件以及执行组件20之间的顺次传动保证了执行组件20在主控制组件10的控制下进行动作。
在本申请一实施例中，主传动件包括第一主传动部和第二主传动部，第一主传动部和第二主传动部固定连接，第一主传动部和第二主传动部设置于主传动基体410，第一主传动部能够与主控制组件10传动连接。从传动件包括第一从传动部和第二从传动部，第一从传动部和第二从传动部固定连接，第一从传动部和第二从传动部设置于从传动基体510，第一从传动部能够与执行组件20传动连接。主传动基体410与从传动基体510配合时，第二主传动部与第二从传动部传动连接。在本实施例中，主控制组件10、第一主传动部、第二主传动部、第二从传动部、第一从传动部以及执行组件20之间顺次传动连接。可选地，第一主传动部和第二主传动部之间、以及第一从传动部和第二从传动部之间通过固定件实现固定连接，或者第一主传动部和第二主传动部、以及第一从传动部和第二从传动部分别为一体成型结构。在该实施例中，第一主传动部、第二主传动部、第二从传动部以及第一从传动部配合实现主控制组件10与执行组件20之间的传动连接，具有结构稳定、便于拆卸的优点。
作为另一种可以实现的方式，第一主传动部和第二主传动部之间、以及第一从传动部和 第二从传动部之间也可以是通过其他的方式实现传动连接。可以理解的，在上述实施例中，主传动基体410与从传动基体510分开时，第二主传动部和第二从传动部之间也进行分离，便于主控制组件10和执行组件20分别进行相应的后续处理(比如消毒等)。
主控制组件10与主传动机构400之间以及执行组件20与从传动机构500之间分别通过线缆连接。本实施例中，如图52-53所示，线缆包括控制线缆450和执行线缆570。在本申请一实施例中，第一主传动部或第一从传动部的类型包括绕线轮、链轮或者带轮，对应的，第一主传动部和主控制组件10通过控制线缆450、控制链条或者控制带传动连接，第一主传动部允许控制线缆450、控制链条或者控制带缠绕或绕过。第一从传动部和执行组件20之间通过执行线缆570、执行链条或者执行带传动连接，第一从传动部允许执行线缆570、执行链条或者执行带缠绕或绕过。线缆、链条以及传动带类型的传动方式，都能够有效实现第一主传动部和主控制组件10之间以及第一从传动部和执行组件20之间的传动连接。作为一种可实现的方式，如图51-53所示，第一主传动部和主控制组件10通过控制线缆450传动连接，以及第一从传动部和执行组件20之间通过执行线缆570传动连接，对应的，第一主传动部和第一从传动部分别为绕线轮。线缆类型的传动方式能够简化第一主传动部和第一从传动部的结构形式。进一步地，控制线缆450和执行线缆570分别为柔性的线缆，比如钢丝、绳索等。
在本申请一实施例中，如图52-53所示，第二主传动部和第二从传动部均包括齿轮，第二主传动部和第二从传动部的组成齿轮副。主传动基体410与从传动基体510配合时，第二主传动部与第二从传动部啮合传动。齿轮传动能够便于实现快速的啮合和分离，且具有良好的互换性。当第一主传动部和第一从传动部分别为绕线轮时，第一主传动部和第二主传动部形成主绕线齿轮420，主绕线齿轮420转动安装在主传动基体410上。第一从传动部和第二从传动部之间形成从绕线齿轮520，从绕线齿轮520转动安装在从传动基体510上。主绕线齿轮420通过控制线缆450和主控制组件10连接，从绕线齿轮520通过执行线缆570与执行组件20连接。主传动基体410和从传动基体510配合时主绕线齿轮420和从绕线齿轮520实现啮合传动，主传动基体410和从传动基体510分开时主绕线齿轮420和从绕线齿轮520实现分离。
在本申请另一实施例中，第二主传动部包括多边形轴(或多边形槽)，第二从传动部包括多边形槽(或多边形轴)，主传动基体410与从传动基体510配合时，第二主传动部与第二从传动部插接配合。多边形轴和适配的多边形槽(比如六边形)的结构形式也能够便于第二主传动部和第二从传动部之间的传动配合和分离。如图56-57所示，当第一主传动部和第一从传动部分别为绕线轮时，第一主传动部和第二主传动部形成公头线轮430，公头线轮430转动安装在主传动基体410上。第一从传动部和第二从传动部之间形成母头线轮530，母头线轮530转动安装在从传动基体510上。公头线轮430通过控制线缆450和主控制组件10连接，母头线轮530通过执行线缆570与执行组件20连接。主传动基体410和从传动基体510配合时公头线轮430和母头线轮530实现配合传动，主传动基体410和从传动基体510分开时公头线轮430和母头线轮530实现分离。当然，在其他实施例中，也可以是第一主传动部形成母头线轮，第二主传动部形成公头线轮。
在本申请一实施例中，第一主传动部和第二主传动部与第一从传动部和第二从传动部配合传动时实现执行组件20的俯仰或偏转。执行组件20能够实现俯仰或偏转从而能够有效增强执行组件20的通用性以及对实际工况的适应性。进一步，如图52-54所示，主传动件包括四组第一主传动部和第二主传动部，四个第一主传动部分别与主控制组件10传动连接。从传动件包括四组第一从传动部和第二从传动部，四个第一从传动部分别与执行组件20传动连接。四个第二主传动部分别与对应的一个第二从传动部传动连接，四组第一主传动部和第二主传动部以及四组第一从传动部和第二从传动部，分别用于带动执行组件20实现俯、仰、左偏转或右偏转。
作为一种可实现的方式，如图51-53所示，主传动件包括四个主绕线齿轮420，从传动件也包括四个从绕线齿轮520，四个主绕线齿轮420和四个从绕线齿轮520一一对应配合实 现传动。通过控制线缆450和执行线缆570实现主控制组件10对执行组件20的俯、仰、左偏转或右偏转的控制。作为另一种可实现的方式，如图56-57所示，主传动件包括四个公头线轮430，从传动件也包括四个母头线轮530，四个公头线轮430和四个母头线轮530一一对应配合实现传动，辅以控制线缆450和执行线缆570实现主控制组件10对执行组件20俯、仰、左偏转或右偏转的控制。需要说明的是，本实施例中的俯和仰是执行组件20绕相同的俯仰转轴向不同的方向转动，左偏转和右偏转是执行组件20绕相同的偏转转轴向不同的方向转动，俯仰转轴的轴线、偏转转轴的轴线以及连接杆30的轴线两两垂直。
在本申请一实施例中，如图52-54所示，主传动件还包括主闭合部440，主闭合部440设置于主传动基体410，主闭合部440能够与主控制组件10传动连接，从传动件还包括从闭合部，从闭合部设置于从传动基体510，从闭合部与执行组件20传动连接。主传动基体410与从传动基体510配合时，主闭合部440与从闭合部传动连接。主闭合部440在主控制组件10的带动下动作时，主闭合部440带动从闭合部动作以控制执行组件20的闭合。主闭合部440和从闭合部的配合能够允许主控制组件10控制执行组件20执行闭合动作。可选的，主闭合部440和主控制组件10之间，以及从闭合部和执行组件20之间可以通过线缆、链条或者传动带的方式实现传动连接。作为一种可实现的方式，主闭合部440与主控制组件10之间通过主闭合线缆460连接，主闭合部440滑动设置于主闭合基体。从闭合部与执行组件20之间通过从闭合线缆550连接，从传动基体510上设置闭合销轴518，闭合销轴518允许从闭合线缆550靠近从闭合部的一端绕过后改变延伸方向。主闭合部440滑动时推动从闭合部同步运动，进而拉伸从闭合线缆550实现执行组件20的闭合。
进一步，如图52-54所示，主闭合部440包括主闭合滑块441和主复位件442，主闭合滑块441滑动设置于主闭合基体，主闭合滑块441与主控制组件10中的控制手柄110通过主闭合线缆460固定连接，主复位件442设置于主传动基体410与主闭合滑块441之间。从闭合部包括从闭合块540，从闭合块540能够与从闭合线缆550远离执行组件20的一端固定连接，主传动基体410与从传动基体510配合时，主闭合滑块441与从闭合块540抵接。主闭合滑块441在主闭合线缆460的拉动下动作时，主闭合滑块441带动从闭合滑块沿拉紧从闭合线缆550的方向移动，同时主闭合滑块441压缩主复位件442，主复位件442沿释放从闭合线缆550的方向抵推主闭合滑块441。主复位件442能够在主闭合线缆460的拉紧力消失时推动主闭合滑块441复位进而允许执行组件20张开。可选地，主复位件442可以是弹簧或者弹性橡胶等。更进一步的，在主闭合滑块441上设置闭合凸起443，在从闭合块540上开合闭合凹槽541，主传动基体410与从传动基体510配合时，主闭合滑块441上的闭合凸起443和从闭合块540上的闭合凹槽541配合。闭合凸起443和闭合凹槽541能够增强从闭合块540和主闭合滑块441之间的连接稳定性。
在本申请一实施例中，如图53所示，从传动机构500还包括张开部，张开部与执行组件20传动连接，张开部单独作用时保持执行组件20处于张开状态。张开部能够驱动处于闭合状态的执行组件20执行张开动作。作为一种可实现的方式，张开部包括张开弹簧560，从传动基体510上设置张开销轴519，张开弹簧560的一端与从传动基体510固定连接，张开弹簧560的另一端(自由端)通过张开线缆580与执行组件20连接，张开线缆580绕过张开销轴519后与张开弹簧560的自由端固定连接。当执行组件20处于闭合状态时，张开弹簧560处于受拉状态，当主闭合线缆460的拉紧力消失时，主复位件442推动主闭合滑块441复位，同时张开弹簧560恢复至少部分弹性变形进而驱动执行组件20张开。
在本申请一实施例中，如图1、图53、图56-57以及图59所示，主传动基体410以及从传动基体510均呈壳体，主传动基体410以及从传动基体510分别围设形成具有开口的空腔。主传动件和从传动件分别设置于对应的空腔，主传动基体410与从传动基体510配合时，主传动件与从传动件在对应空腔的开口处传动连接。壳体类型的主传动基体410和从传动基体510能够实现对主传动件以及从传动件的保护，同时还能够减轻连接组件40的重量。进一步地，主传动基体410与从传动基体510通过卡扣连接或螺纹连接实现可拆卸的固定连接。两 种方式都能够实现主传动基体410与从传动基体510之间的可拆卸固定连接，同时具有连接稳定、可多次重复使用的优点。
作为一种可实现的方式，如图53及图55所示，连接组件40还包括第一卡爪511和第二卡爪512。第一卡爪511和第二卡爪512分别转动设置于从传动基体510，第一卡爪511和第二卡爪512能够沿垂直的方向卡紧主传动基体410。第一卡爪511和第二卡爪512的转轴处分别设置扭簧，第一卡爪511和第二卡爪512在对应扭簧的驱动下向卡紧主传动基体410的方向转动。第一卡爪511与主传动基体410上的第一卡扣411能够扣合，第二卡爪512与主传动基体410上的第二卡扣412能够扣合。当想要快速拆卸该装置时，只需要用手抓住连接杆30，拇指抠住第二卡爪512，食指抵住第一卡爪511，便能够使两个卡爪张开，向下运动使四对绕线齿轮以及主闭合滑块441和从闭合块540分离即可。需要注意的是，拆装最好在执行组件20俯仰偏转为0°、开合角最大时操作，这样能够保证每次更换器械后的使用条件相同。可选地，第一卡爪511和第二卡爪512还能够沿非垂直的方向卡紧主传动基体410，比如第一卡爪511和第二卡爪512呈30°、45°、60°、75°或者120°等交叉角度。
在正常状态下，第一卡爪511在扭簧的作用下逆时针旋转，第二卡爪512在扭簧的作用下顺时针旋转。当手抓住连接杆30，拇指抠住第二卡爪512，食指抵住第一卡爪511，便能够使两个卡爪张开，将可拆卸盒子靠近框架130接口，四对齿轮和两个接头配合后松开拇指和食指，第一卡爪511和第二卡爪512便能够在扭簧的作用下自动旋转分别扣住第一卡扣411和第二卡扣412，扣合后如图55所示。
作为另一种可实现的方式，如图58-60所示，连接组件40还包括第三卡爪513和第四卡爪514。第三卡爪513和第四卡爪514的两端分别为卡紧端515和按压端，第三卡爪513的中部和第四卡爪514的中部分别转动设置于从传动基体510，第三卡爪513和第四卡爪514的转轴处分别设置扭簧，第三卡爪513的卡紧端515和第四卡爪514的卡紧端515在对应扭簧的驱动下相互靠近并形成卡槽517。主传动基体410上设置定位杆413，主传动基体410与从传动基体510配合时，定位杆413卡入第三卡爪513的卡紧端515和第四卡爪514的卡紧端515形成的卡槽517中。第三卡爪513的按压端和第四卡爪514的按压端被按压时，第三卡爪513的卡紧端515和第四卡爪514的卡紧端515相互远离，第三卡爪513和第四卡爪514释放定位杆413。对应的，从传动基体510上开设定位槽，定位槽能够在定位杆413卡入的过程中避让定位杆413。
进一步地，第三卡爪513和第四卡爪514的主体设置在从传动基体510的内部，第三卡爪513和第四卡爪514的按压端设置按钮516，按钮516穿过从传动基体510至外侧。操作者通过按压按钮516按压第三卡爪513和第四卡爪514的按压端。
更进一步地，如图58-60所示，第三卡爪513的按压端呈倾斜面，第四卡爪514的按压端也呈倾斜面，第三卡爪513的按压端和第四卡爪514的按压端形成V形面。主传动基体410与从传动基体510配合时，定位杆413抵推V形面沿相互远离的方向运动，定位杆413卡入卡槽517中。本实施例提供的第三卡爪513和第四卡爪514能够便于操作者直接将主传动基体410和从传动基体510进行配合并实现两者之间的稳定连接。
在本申请一实施例中，如图1及图55所示，主控制组件10与主传动机构400之间以及执行组件20与从传动机构500之间分别通过线缆连接，执行组件20与从传动机构500之间的线缆穿过连接杆30。从传动基体510与连接杆30通过连接组件40实现固定连接或者通过一体成型实现固定连接。主传动基体410与主控制组件10通过连接组件40实现固定连接，或者主传动基体410与主控制组件10的末端一体成型。进一步，执行组件20的类型包括钳式、剪式、钩式或穿刺式的器械。主控制组件10与主传动机构400之间的线缆至少部分穿过框架130。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。例如，任一实施例的手腕附接组件、任一实施例的控制 手柄与任一实施例的串联关节组合成的微创手术器械也应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (53)

  1. 一种手腕附接组件，其特征在于，包括：
    固定构件，所述固定构件为环形，所述固定构件的内侧具有呈环形球面的第一表面，所述第一表面的球心位于所述第一表面的两侧边缘之间；
    附接构件，所述附接构件为环形，所述附接构件的外侧具有呈环形球面的第二表面，所述第一表面的球心与所述第二表面的球心重合且所述第二表面至少部分接触于所述第一表面，所述第二表面的宽度小于所述第一表面的宽度，以使所述附接构件能够相对所述固定构件自由滚转，所述附接构件的滚转中心为所述第一表面的球心。
  2. 根据权利要求1所述的手腕附接组件，其特征在于，所述第一表面的至少一侧边缘连接有阻挡件，所述阻挡件的至少部分朝所述固定构件的环形内侧空间延伸，以限制所述附接构件的偏转角度。
  3. 根据权利要求2所述的手腕附接组件，其特征在于，所述第一表面的两侧边缘均对应连接有阻挡件，所述阻挡件为连接于所述第一表面的侧边缘的环形挡圈。
  4. 根据权利要求1所述的手腕附接组件，其特征在于，所述附接构件包括环体和环形凸缘，所述环形凸缘同轴连接于所述环体的外表面，所述环形凸缘的外端面抵接与所述第一表面，所述环形凸缘的外端面形成与所述第一表面相配合的第二表面。
  5. 根据权利要求1所述的手腕附接组件，其特征在于，还包括腕部套件，其被配置为可附接至使用者的手腕，所述腕部套件可转动的安装于所述附接构件的内侧，所述腕部套件的转动轴线穿过所述附接构件的滚转中心。
  6. 根据权利要求5所述的手腕附接组件，其特征在于，所述腕部套件为C形构件；所述C形构件的外侧的两端形成有两个凸块，两个所述凸块形成所述腕部套件的转动轴，所述附接构件的侧壁分别对应两个所述凸块形成有两个安装孔，所述C形构件通过所述凸块与所述安装孔的卡接可拆卸的转动连接于所述附接构件的内侧。
  7. 一种手腕附接组件，其特征在于，包括：
    固定构件，所述固定构件呈环形；
    附接构件，所述附接构件与所述固定构件可拆卸连接；
    腕部套件，所述腕部套件连接于所述附接构件的内侧，并被配置成附接至使用者的前臂或手腕。
  8. 根据权利要求7所述的手腕附接组件，其特征在于，所述附接构件与所述固定构件可拆卸地磁性连接或者可拆卸地粘贴。
  9. 根据权利要求7所述的手腕附接组件，其特征在于，所述附接构件弹性卡接于所述固定构件的内侧。
  10. 根据权利要求9所述的手腕附接组件，其特征在于，所述附接构件包括弧形单元环和调节件，所述弧形单元环和所述调节件围合形成环形，所述调节件驱使所述环形弹性卡接于所述固定构件的内侧。
  11. 根据权利要求10所述的手腕附接组件，其特征在于，所述附接构件包括至少两个弧形单元环和至少两个调节件，所述调节件为弹性元件，所述弧形单元环和所述调节件间隔交错设置，所述调节件弹性驱使所述环形沿径向扩展，以使所述弧形单元环抵接于所述固定构件的内侧。
  12. 根据权利要求11所述的手腕附接组件，其特征在于，所述附接构件包括两个弧形单元环和两个调节件，每一所述弧形单元环的两端与另一所述弧形单元环的两端对应设置，所述调节件安装于每一所述弧形单元环的端部和对应的另一所述弧形单元环的端部之间，以驱动两个弧形单元环沿其径向向彼此远离的方向运动。
  13. 根据权利要求11所述的手腕附接组件，其特征在于，所述附接构件包括两个弧形单元环和两个调节件，所述调节件为与所述弧形单元环的半径相同的弧形连接件，两个所述调节件和两个弧形单元环围合形成环形，两个所述弧形单元环的一端铰接，另一端与一所述弧形连接件铰接，所述弧形连接件远离对应的所述弧形单元环的一端相互铰接。
  14. 根据权利要求7所述的手腕附接组件，其特征在于，所述腕部套件包括夹紧件和驱动件，所述夹紧件安装于所述附接构件内侧，用于夹持于所述使用者的前臂或手腕，所述驱动件与所述夹紧件驱动连接，用于保持所述夹紧件与所述使用者的前臂或手腕的夹紧。
  15. 根据权利要求14所述的手腕附接组件，其特征在于，所述夹紧件包括至少两个安装于所述附接构件内侧的夹臂，所述夹臂之间形成有容置使用者的前臂或手腕的容置空间，所述驱动件与所述夹臂连接，用于驱使所述夹臂向缩小所述容置空间的方向运动。
  16. 根据权利要求15所述的手腕附接组件，其特征在于，所述驱动件为扭簧，所述夹臂之间铰接，所述扭簧安装于所述夹臂的铰接处，所述扭簧驱使所述夹臂之间相互靠近，所述夹臂的两端均弹性抵接于所述附接构件的内侧。
  17. 根据权利要求15所述的手腕附接组件，其特征在于，所述驱动件为扭簧，所述夹臂的一端与所述附接构件铰接，所述扭簧安装于所述夹臂与所述附接构件的铰接处，所述扭簧驱使所述夹臂的另一端向所述附接构件内侧转动。
  18. 根据权利要求15所述的手腕附接组件，其特征在于，所述驱动件为弹簧，所述夹臂围合形成环形，所述弹簧安装于所述夹臂和所述附接构件内侧之间，以驱使所述夹臂向所述附接构件的中部运动。
  19. 根据权利要求14所述的手腕附接组件，其特征在于，所述夹紧件包括一由弹性材料制成的C形件或U形件，所述C形件或U形件的内部为用于容置使用者的手腕或前臂的容置空间，所述驱动件连接于所述C形件或U形件的至少一个端部，用于驱使所述C形件或U形件发生弹性形变，以改变所述容置空间的大小。
  20. 根据权利要求19所述的手腕附接组件，其特征在于，所述驱动件为一伸缩阀，所述伸缩阀安装于所述附接构件的内侧，所述伸缩阀的伸缩端与所述C形件或U形件的一端抵接，所述C形件或U形件的的另一端与所述附接构件抵接，当所述伸缩阀的伸缩端伸缩时，所述C形件或U形件内部的所述容置空间的大小发生变化。
  21. 根据权利要求19所述的手腕附接组件，其特征在于，所述驱动件包括沿所述附接构件的内侧周向延伸并连接于所述附接构件的内侧的两个曲线滑道和对应连接于所述C形件或U形件的外侧两端的锥形滑块，所述曲线滑道的一端相对于另一端逐渐靠近所述附接构件的中部，且两个所述曲线滑道相对设置，两个所述锥形滑块与两个所述曲线滑道对应滑动配合设置，当所述滑块沿所述曲线滑道滑动时，所述C形件或U形件内部的所述容置空间的大小发生变化。
  22. 一种控制手柄，其特征在于，包括：
    基体结构；
    拨轮结构，包括：
    拨轮壳体，所述拨轮壳体一端开设有进线孔、另一端与所述基体结构转动连接；
    线缆转接件，所述线缆转接件能够在所述拨轮壳体内移动；
    线缆，所述线缆从所述进线孔进入所述拨轮壳体，并通过所述线缆转接件转接，再与所述基体结构连接；
    其中，所述线缆转接件在连接所述线缆的同时，还能使连接于所述线缆连接件的前后线缆之间可沿轴向相对转动。
  23. 根据权利要求22所述的控制手柄，其特征在于，所述线缆转接件包括呈筒状的滑动件及转动件，所述滑动件的外壁与所述拨轮壳体的内壁滑动接触，所述转动件内置于所述滑动件。
  24. 根据权利要求23所述的控制手柄，其特征在于，所述线缆包括第一线缆及第二线缆，所述第一线缆穿过所述进线孔与所述滑动件连接，所述第二线缆的一端与所述转动件连接，另一端与所述基体结构连接。
  25. 根据权利要求24所述的控制手柄，其特征在于，所述转动件具有第一转动部及第二转动部，所述第一转动部与所述第二转动部转动连接，所述第一转动部固定安装于所述滑动件远离所述进线口的一端，所述第二转动部与所述线缆的一端固定。
  26. 根据权利要求24所述的控制手柄，其特征在于，所述基体结构包括：
    手柄壳体，所述手柄壳体与所述拨轮壳体转动连接；
    位移件，所述位移件内置于所述手柄壳体并与所述手柄壳体的内壁转动连接，所述第二线缆远离所述转动件的一端与所述位移件连接；
    驱动件，所述驱动件的一端与所述位移件连接、另一端穿过所述手柄壳体并用于驱动所述位移件相对所述手柄壳体运动，使所述第二线缆位于所述手柄壳体内的部分的长度产生变化；及
    限制件，所述限制件与所述位移件抵接并可控制的限制所述转动件单向运动。
  27. 根据权利要求26所述的控制手柄，其特征在于，所述驱动件包括把手及弧形连杆，所述把手的一端与所述手柄壳体铰接，所述把手的另一端与所述弧形连杆一端铰接，所述弧形连杆的另一端与所述位移件铰接。
  28. 根据权利要求26所述的控制手柄，其特征在于，所述位移件呈圆盘状，且其外周面沿其周向设有控制轨道，所述限制件抵接于所述控制轨道并可控制的限制所述转动件单向转动。
  29. 根据权利要求28所述的控制手柄，其特征在于，所述控制轨道为凸点轨道，所述凸点轨道包括沿所述转动件外周面周向布置的弧形滑道及沿所述弧形滑道均匀布置的多个凸起或多个凹槽，所述限制件包括限制部、弹性部及控制部，所述限制部的一端铰接所述手柄壳体的内壁，所述弹性部的一端与所述限制部连接并产生弹力以驱动限制部正向转动至所述限制部的另一端抵接于相邻两个凸起之间或凹槽内，所述控制部的一端与所述限制部连接、另一端突出于所述手柄壳体并用于驱动所述限制部反向转动至所述限制部的另一端脱离所述转动件。
  30. 根据权利要求26所述的控制手柄，其特征在于，所述位移件的一端与所述手柄壳体的内壁活动连接，所述位移件的另一端的端面上设有若干用于卡接的波形齿，所述驱动件设置在所述位移件上并至少部分穿出于所述手柄壳体，所述限制件靠近所述波形齿的部分延伸形成一突出部，所述突出部与所述波形齿的形状相近似，其具有与所述波形齿啮合或脱离接触两种状态，所述限制件部分延伸至所述手柄壳体外，形成用于切换所述突出部状态的操作端。
  31. 根据权利要求26所述的控制手柄，其特征在于，所述位移件包括：
    内环，所述内环与所述手柄壳体的内壁固定，所述内环的边沿开设有一缺口；
    外环，所述外环活动套设在所述内环的外周面上，所述外环的外周面上设有缠绕所述第二线缆的轨道，外环沿径向延伸形成一与所述驱动件抵接的抵接台；
    钢柱，所述钢柱穿设于所述缺口；
    抵接弹簧，所述抵接弹簧的周面与所述外环的内环面接触，所述抵接弹簧的一端与所述缺口的内壁固定，所述抵接弹簧的另一端与所述钢柱径向固定。
  32. 根据权利要求26所述的控制手柄，其特征在于，所述驱动件包括：
    铰接板，所述铰接板与所述手柄壳体的内壁铰接；
    驱动杆，所述驱动杆穿设于所述铰接板，且所述驱动杆一端位于所述手柄壳体外部，所述驱动杆位于所述手柄壳体外的一端延伸形成按钮；及
    固定条，所述固定条与所述驱动杆位于所述手柄壳体内的一端固定。
  33. 根据权利要求32所述的控制手柄，其特征在于，所述位移件包括位移钢片和杠杆，所述位移钢片的一端与所述固定条固定，所述位移钢片的另一端与所述限制件固定，所述杠杆的一端与所述位移钢片铰接，所述杠杆的另一端与所述第二线缆固定，所述杠杆的中部与所述手柄壳体的内壁铰接。
  34. 一种串联运动机构，其特征在于，包括：
    手腕附接组件，与手腕附接；
    控制手柄；
    串联关节，包括两个关节，且所述两个关节的转动轴轴线垂直，所述控制手柄通过所述串联关节与所述手腕附接组件连接，用于将所述控制手柄的运动状态分解转换成所述串联关节的关节运动。
  35. 根据权利要求34所述的一种串联运动机构，其特征在于，所述串联关节包括偏转组件及俯仰组件，所述偏转组件通过所述俯仰组件与所述控制手柄转动连接，以形成俯仰转动关节，所述偏转组件还与所述手腕附接组件转动连接形成偏转转动关节，所述俯仰转动关节与所述偏转转动关节的转动轴垂直。
  36. 根据权利要求35所述的一种串联运动机构，其特征在于，所述偏转组件包括牵引架，所述牵引架上开设有转动槽及滑动槽，所述手腕附接组件与所述转动槽转动连接，所述俯仰组件与所述滑动槽活动连接，可在所述滑动槽内滑动，且可相对所述牵引架转动。
  37. 根据权利要求36所述的一种串联运动机构，其特征在于，所述滑动槽为两个，两个所述滑动槽分别设置于所述牵引架的两侧；所述偏转组件还包括依次连接，且皆位于所述转动槽内的偏转轮、张紧轮及连接片；所述偏转轮上开设有偏转线槽，所述偏转线槽环设于所述偏转轮的四周；所述张紧轮上开设有第一通孔，所述连接片上开设有第二通孔，所述第一通孔与所述第二通孔同心。
  38. 根据权利要求36所述的一种串联运动机构，其特征在于，所述俯仰组件包括连接架、俯仰轮、走线件及连接轴，所述走线件与所述连接架固定连接，所述俯仰轮位于所述滑动槽内，且所述俯仰轮与所述走线件通过所述连接轴连接；所述俯仰轮上开设有俯仰线槽，所述俯仰线槽环设于所述俯仰轮四周。
  39. 根据权利要求38所述的一种串联运动机构，其特征在于，所述俯仰组件还包括滑块及滑动轴承，所述滑块与所述走线件连接，且位于所述滑动槽外，并与所述牵引架接触；所述滑动轴承套设于所述连接轴上，且与所述滑动槽的内壁接触。
  40. 一种微创手术器械，其特征在于，包括：
    主控制组件；
    执行组件；及
    连接组件，设置于所述主控制组件以及所述执行组件之间，所述连接组件包括：
    主传动机构，包括主传动基体和主传动件，所述主传动基体能够与输出执行动作的所述主控制组件固定连接，所述主传动件设置于所述主传动基体，所述主传动件还能够与所述主控制组件传动连接；
    从传动机构，包括从传动基体和从传动件，所述从传动基体能够与接收执行动作的所述执行组件固定连接，所述从传动件设置于所述从传动基体，所述从传动件还能够与所述执行组件传动连接；
    所述主传动基体与所述从传动基体可拆卸的配合，所述主传动基体与所述从传动基体配合时，所述主传动件与所述从传动件传动连接。
  41. 根据权利要求40所述的微创手术器械，其特征在于，所述主传动件包括第一主传动 部和第二主传动部，所述第一主传动部和所述第二主传动部固定连接，所述第一主传动部和所述第二主传动部设置于所述主传动基体，所述第一主传动部能够与所述主控制组件传动连接；所述从传动件包括第一从传动部和第二从传动部，所述第一从传动部和所述第二从传动部固定连接，所述第一从传动部和所述第二从传动部设置于所述从传动基体，所述第一从传动部能够与所述执行组件传动连接；所述主传动基体与所述从传动基体配合时，所述第二主传动部与所述第二从传动部传动连接。
  42. 根据权利要求41所述的微创手术器械，其特征在于，所述第二主传动部和所述第二从传动部均包括齿轮，所述第二主传动部和所述第二从传动部的组成齿轮副；所述主传动基体与所述从传动基体配合时，所述第二主传动部与所述第二从传动部啮合传动。
  43. 根据权利要求41所述的微创手术器械，其特征在于，所述第二主传动部包括多边形轴或多边形槽，所述第二从传动部包括多边形槽或多边形轴，所述主传动基体与所述从传动基体配合时，所述第二主传动部与所述第二从传动部插接配合。
  44. 根据权利要求41所述的微创手术器械，其特征在于，所述第一主传动部和所述第二主传动部与所述第一从传动部和所述第二从传动部配合传动并带动所述执行组件俯仰和/或偏转；
    所述主传动件还包括主闭合部，所述主闭合部设置于所述主传动基体，所述主闭合部能够与所述主控制组件传动连接，所述从传动件还包括从闭合部，所述从闭合部设置于所述从传动基体，所述从闭合部与所述执行组件传动连接，所述主传动基体与所述从传动基体配合时，所述主闭合部与所述从闭合部传动连接；所述主闭合部在所述主控制组件的带动下动作时，所述主闭合部带动所述从闭合部动作以控制所述执行组件的闭合。
  45. 根据权利要求44所述的微创手术器械，其特征在于，所述主闭合部与所述主控制组件之间通过主闭合线缆连接，所述主闭合部滑动设置于所述主闭合基体；所述从闭合部与所述执行组件之间通过从闭合线缆连接，所述从传动基体上设置闭合销轴(，所述闭合销轴允许所述从闭合线缆靠近所述从闭合部的一端绕过后改变延伸方向。
  46. 根据权利要求45所述的微创手术器械，其特征在于，所述主闭合部包括主闭合滑块和主复位件，所述主闭合滑块滑动设置于所述主闭合基体，所述主闭合滑块与所述主控制组件中的手柄通过所述主闭合线缆固定连接，所述主复位件设置于所述主传动基体与所述主闭合滑块之间；所述从闭合部包括从闭合块，所述从闭合块能够与所述从闭合线缆远离所述执行组件的一端固定连接，所述主传动基体与所述从传动基体配合时，所述主闭合滑块与所述从闭合块抵接；所述主闭合滑块在所述主闭合线缆(的拉动下动作时，所述主闭合滑块带动所述从闭合滑块沿拉紧所述从闭合线缆的方向移动，同时所述主闭合滑块压缩所述主复位件，所述主复位件沿释放所述从闭合线缆的方向抵推所述主闭合滑块。
  47. 根据权利要求44所述的微创手术器械，其特征在于，所述从传动机构还包括张开部，所述张开部与所述执行组件传动连接，所述张开部单独作用时保持所述执行组件处于张开状态。
  48. 根据权利要求41所述的微创手术器械，其特征在于，所述主传动件包括四组所述第一主传动部和所述第二主传动部，四个所述第一主传动部分别与主控制传动连接；所述从传动件包括四组所述第一从传动部和所述第二从传动部，四个所述第一从传动部分别与所述执行组件传动连接；四个所述第二主传动部分别与对应的一个所述第二从传动部传动连接，四组所述第一主传动部和所述第二主传动部以及四组所述第一从传动部和所述第二从传动部，分别用于带动所述执行组件实现俯、仰、左偏转或右偏转。
  49. 根据权利要求40所述的微创手术器械，其特征在于，所述主传动基体以及所述从传动基体均呈壳体，所述主传动基体以及所述从传动基体分别围设形成具有开口的空腔；所述主传动件和所述从传动件分别设置于对应的所述空腔，所述主传动基体与所述从传动基体配合时，所述主传动件与所述从传动件在对应所述空腔的开口处传动连接；所述主传动基体与所述从传动基体通过卡扣连接或螺纹连接实现可拆卸的固定连接。
  50. 根据权利要求49所述的微创手术器械，其特征在于，所述连接组件还包括第一卡爪和第二卡爪，所述第一卡爪和所述第二卡爪分别转动设置于所述从传动基体，所述第一卡爪和所述第二卡爪能够卡紧所述主传动基体；所述第一卡爪和所述第二卡爪的转轴处分别设置扭簧，所述第一卡爪和所述第二卡爪在对应所述扭簧的驱动下向卡紧所述主传动基体的方向转动。
  51. 根据权利要求49所述的微创手术器械，其特征在于，所述连接组件还包括第三卡爪和第四卡爪，所述第三卡爪和所述第四卡爪的两端分别为卡紧端和按压端，所述第三卡爪的中部和所述第四卡爪的中部分别转动设置于所述从传动基体，所述第三卡爪(和所述第四卡爪的转轴处分别设置扭簧，所述第三卡爪的所述卡紧端和所述第四卡爪的所述卡紧端在对应所述扭簧的驱动下相互靠近并形成卡槽；所述主传动基体上设置定位杆，所述主传动基体与所述从传动基体配合时，所述定位杆卡入所述第三卡爪所述卡紧端和所述第四卡爪的所述卡紧端形成的卡槽中；所述第三卡爪的所述按压端和所述第四卡爪的所述按压端被按压时，所述第三卡爪的所述卡紧端和所述第四卡爪的所述卡紧端相互远离，所述第三卡爪和所述第四卡爪释放所述定位杆。
  52. 根据权利要求51所述的微创手术器械，其特征在于，所述第三卡爪的所述按压端呈倾斜面，所述第四卡爪的所述按压端也呈倾斜面，所述第三卡爪的所述按压端和所述第四卡爪的所述按压端形成V形面；所述主传动基体与所述从传动基体配合时，所述定位杆抵推所述V形面沿相互远离的方向运动，所述定位杆卡入所述卡槽中。
  53. 根据权利要求40所述的微创手术器械，其特征在于，所述微创手术器械还包括空心结构的连接杆，所述连接杆的一端与所述执行组件连接，所述连接杆的另一端与所述从传动基体固定连接；所述主控制组件与所述主传动机构之间以及所述执行组件与所述从传动机构之间分别通过线缆连接，所述执行组件与所述从传动机构之间的线缆穿过所述连接杆；所述从传动基体与所述连接杆通过连接件实现固定连接或者通过一体成型实现固定连接；所述主传动基体与所述主控制组件通过连接件实现固定连接，或者所述主传动基体与所述主控制组 件的末端一体成型。
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